A robot waist skeleton, comprising: a swing waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed in parallel; a first bracket, which comprises a first stand plate and a second stand plate, wherein one end of the first stand plate is rotatably connected to a case of the swing waist actuator, and one end of the second stand plate is connected to an output end of the swing waist actuator; a bend waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein a case of the bend waist actuator is connected to the other end of the first stand plate and to the other end of the second stand plate; a second bracket, which comprises a first connecting block, a third stand plate, and a fourth stand plate, wherein one end of the third stand plate and one end of the fourth stand plate are respectively fixed to two opposite sides of the first connecting block, the other end of the third stand plate is rotatably connected to the case of the bend waist actuator, and the other end of the fourth stand plate is connected to an output end of the bend waist actuator; a rotate waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein an output end of the rotate waist actuator is connected to the first connecting block of the second bracket; and a third bracket, which comprises a stand post, wherein the stand post is a hollow tubular structure, the case of the rotate waist actuator is provided with a fourth boss, the fourth boss is inserted into one end of the stand post, and the fourth boss is fixed to the stand post. a swing waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed in parallel; a first bracket, which comprises a first stand plate and a second stand plate, wherein one end of the first stand plate is rotatably connected to a case of the swing waist actuator, and one end of the second stand plate is connected to an output end of the swing waist actuator; a bend waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein a case of the bend waist actuator is connected to the other end of the first stand plate and to the other end of the second stand plate; a second bracket, which comprises a first connecting block, a third stand plate, and a fourth stand plate, wherein one end of the third stand plate and one end of the fourth stand plate are respectively fixed to two opposite sides of the first connecting block, the other end of the third stand plate is rotatably connected to the case of the bend waist actuator, and the other end of the fourth stand plate is connected to an output end of the bend waist actuator; a rotate waist actuator, in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein an output end of the rotate waist actuator is connected to the first connecting block of the second bracket; and a third bracket, which comprises a stand post, wherein the stand post is a hollow tubular structure, the case of the rotate waist actuator is provided with a fourth boss, the fourth boss is inserted into one end of the stand post, and the fourth boss is fixed to the stand post.