A walking training apparatus, comprising: a treadmill providing a tread plate for a walking trainee to continue to perform walking training at a regular position; a counterload unit for a walking trainee comprising a counterload balance weight, a wire, and a harness jacket, and lifting a body of the walking trainee upward to reduce a weight load of the walking trainee; a joint motion robot configured to be worn on a lower extremity of the walking trainee and comprising a hip joint moving unit, a knee joint moving unit, and an ankle joint moving unit; and a joint motion robot supporting unit coupled to the joint motion robot to eliminate a weight load of the joint motion robot, wherein the joint motion robot supporting unit comprises a horizontal movable unit to move the joint motion robot back and forth; and a vertical movable unit coupled to the horizontal movable unit to move the joint motion robot up and down, wherein the horizontal movable unit and the vertical movable unit adjust a position of the joint motion robot, and the walking training apparatus further comprises a control unit configured to generate and transfer a control signal customized for the walking trainee, by being associated with at least one selected from the treadmill, the counterload unit, the joint motion robot, and the joint motion robot supporting unit, characterized in that the horizontal movable unit comprises a horizontal movable part moving horizontally according to a horizontal moving mechanism, and a first coupling supporting plate coupled to the horizontal movable part to move together with the horizontal movable part, the vertical movable unit being coupled to the first coupling supporting plate. a treadmill providing a tread plate for a walking trainee to continue to perform walking training at a regular position; a counterload unit for a walking trainee comprising a counterload balance weight, a wire, and a harness jacket, and lifting a body of the walking trainee upward to reduce a weight load of the walking trainee; a joint motion robot configured to be worn on a lower extremity of the walking trainee and comprising a hip joint moving unit, a knee joint moving unit, and an ankle joint moving unit; and a joint motion robot supporting unit coupled to the joint motion robot to eliminate a weight load of the joint motion robot, wherein the joint motion robot supporting unit comprises a horizontal movable unit to move the joint motion robot back and forth; and a vertical movable unit coupled to the horizontal movable unit to move the joint motion robot up and down, wherein the horizontal movable unit and the vertical movable unit adjust a position of the joint motion robot, and the walking training apparatus further comprises a control unit configured to generate and transfer a control signal customized for the walking trainee, by being associated with at least one selected from the treadmill, the counterload unit, the joint motion robot, and the joint motion robot supporting unit, characterized in that the horizontal movable unit comprises a horizontal movable part moving horizontally according to a horizontal moving mechanism, and a first coupling supporting plate coupled to the horizontal movable part to move together with the horizontal movable part, the vertical movable unit being coupled to the first coupling supporting plate.