A walking assistance device configured to assist a user, the walking assistance device comprising: a hip joint actuator configured to generate power to assist a hip joint of a user; an upper thigh frame connected to the hip joint actuator and supported by the hip joint actuator; a lower thigh frame; a motion frame connected to the upper thigh frame and the lower thigh frame, the motion frame including a plurality of motion frames (21,22, 23) configured to rotate relative to each other such that an angle between the upper thigh frame and the lower thigh frame is adjusted, the plurality of motion frames (21,22, 23) being connected to one another in series; characterised in that, the walking assistance device further comprises a thigh wearable portion attached to an inferior end of the lower thigh frame and configured to secure a thigh of the user, wherein each of the plurality of motion frames (21, 22) comprises: a first segment frame; a second segment frame rotatably connected to a first end of first segment frame; a third segment frame rotatably connected to a second end of the first segment frame; a fourth segment frame rotatably connected to the second segment frame; and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, wherein the upper thigh frame is connected to the second segment frame of a motion frame disposed closest to the upper thigh frame among the plurality of motion frames (21,22, 23). a hip joint actuator configured to generate power to assist a hip joint of a user; an upper thigh frame connected to the hip joint actuator and supported by the hip joint actuator; a lower thigh frame; a motion frame connected to the upper thigh frame and the lower thigh frame, the motion frame including a plurality of motion frames (21,22, 23) configured to rotate relative to each other such that an angle between the upper thigh frame and the lower thigh frame is adjusted, the plurality of motion frames (21,22, 23) being connected to one another in series; characterised in that, the walking assistance device further comprises a thigh wearable portion attached to an inferior end of the lower thigh frame and configured to secure a thigh of the user, wherein each of the plurality of motion frames (21, 22) comprises: a first segment frame; a second segment frame rotatably connected to a first end of first segment frame; a third segment frame rotatably connected to a second end of the first segment frame; a fourth segment frame rotatably connected to the second segment frame; and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, wherein the upper thigh frame is connected to the second segment frame of a motion frame disposed closest to the upper thigh frame among the plurality of motion frames (21,22, 23). a thigh wearable portion attached to an inferior end of the lower thigh frame and configured to secure a thigh of the user, wherein each of the plurality of motion frames (21, 22) comprises: a first segment frame; a second segment frame rotatably connected to a first end of first segment frame; a third segment frame rotatably connected to a second end of the first segment frame; a fourth segment frame rotatably connected to the second segment frame; and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, wherein the upper thigh frame is connected to the second segment frame of a motion frame disposed closest to the upper thigh frame among the plurality of motion frames (21,22, 23). a first segment frame; a second segment frame rotatably connected to a first end of first segment frame; a third segment frame rotatably connected to a second end of the first segment frame; a fourth segment frame rotatably connected to the second segment frame; and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, wherein the upper thigh frame is connected to the second segment frame of a motion frame disposed closest to the upper thigh frame among the plurality of motion frames (21,22, 23).