A leg assembly for a legged robot, comprising: a first motor, a second motor and a third motor, the first motor being coupled to the second motor to drive the second motor to rotate relative to the first motor, a rotation axis of the first motor being substantially orthogonal to a rotation axis of the second motor, the second motor being coupled to the third motor to drive the third motor to rotate relative to the second motor, a rotation axis of the third motor substantially coinciding with the rotation axis of the second motor; and a first leg part, a second leg part and a transmission component, the third motor being arranged at a first end of the first leg part, the second leg part is pivotably coupled to a second end of the first leg part, the transmission component being coupled to an output shaft of the third motor and the second leg part to drive the second leg part to rotate relative to the first leg part, characterized in that the leg assembly further comprises a first flange coupled to the second motor and located between the first motor and the second motor, the first flange is provided with a first limit portion, the first motor is provided with a first stop portion and a second stop portion, the first stop portion and the second stop portion are spaced apart to limit a rotation angle of the second motor by stopping the first limit portion, wherein the first flange is provided with a second limit portion, the leg assembly further comprises a second flange coupled to the third motor and located between the second motor and the third motor, the second flange is provided with a third stop portion and a fourth stop portion, and the third stop portion and the fourth stop portion are spaced apart to limit a rotation angle of the third motor by stopping the second limit portion, and wherein the second limit portion is substantially located on a coupling line between the first limit portion and a rotation center of the first flange. a first motor, a second motor and a third motor, the first motor being coupled to the second motor to drive the second motor to rotate relative to the first motor, a rotation axis of the first motor being substantially orthogonal to a rotation axis of the second motor, the second motor being coupled to the third motor to drive the third motor to rotate relative to the second motor, a rotation axis of the third motor substantially coinciding with the rotation axis of the second motor; and a first leg part, a second leg part and a transmission component, the third motor being arranged at a first end of the first leg part, the second leg part is pivotably coupled to a second end of the first leg part, the transmission component being coupled to an output shaft of the third motor and the second leg part to drive the second leg part to rotate relative to the first leg part, characterized in that the leg assembly further comprises a first flange coupled to the second motor and located between the first motor and the second motor, the first flange is provided with a first limit portion, the first motor is provided with a first stop portion and a second stop portion, the first stop portion and the second stop portion are spaced apart to limit a rotation angle of the second motor by stopping the first limit portion, wherein the first flange is provided with a second limit portion, the leg assembly further comprises a second flange coupled to the third motor and located between the second motor and the third motor, the second flange is provided with a third stop portion and a fourth stop portion, and the third stop portion and the fourth stop portion are spaced apart to limit a rotation angle of the third motor by stopping the second limit portion, and wherein the second limit portion is substantially located on a coupling line between the first limit portion and a rotation center of the first flange.