A joint structure for a robot, comprising: a first link and a second link, rotatably coupled to each other through a joint part; a first linear-motion actuator and a second linear-motion actuator each having a main body (31A, 31B) and a shaft member (62A, 62B) configured to linearly move in an axial center direction relatively to the main body (31A, 31B); and a pair of first connecting members (51A, 51B), wherein the joint part includes a first rotary member disposed so that an axial center thereof is oriented in a first direction and fixedly connected to the first link, and a pair of second rotary members (42A, 42B) disposed so that axial centers thereof are oriented in a second direction perpendicular to the first direction and the second rotary members (42A, 42B) engage with the first rotary member, wherein the first link is relatively rotatable about a first shaft part with respect to the second link in connection with a rotation of the first rotary member, wherein the first shaft part is disposed so that its axial center is oriented in the first direction, wherein the second link is coupled to the joint part through the pair of second rotary members (42A, 42B) so as to be rotatable around a second shaft part, wherein the second shaft part is disposed so that its axial center is oriented in the second direction, wherein the first linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to one of the second rotary members, and pivots the second rotary member by linearly moving the shaft member, wherein the second linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the other second rotary member, and pivots the second rotary member by linearly moving the shaft member, and wherein the first rotary member is pivoted relatively to the second rotary members (42A, 42B) by pivoting the second rotary members (42A, 42B), characterized in that the tip-end part of the first linear-motion actuator is rotatably connected to a tip-end part of one of the first connecting members, wherein a base-end part of the one first connecting member is fixed to an outer circumferential surface of the one second rotary member, wherein the tip-end part of the second linear-motion actuator is rotatably connected to a tip-end part of the other first connecting member, and wherein a base-end part of the other first connecting member is fixed to an outer circumferential surface of the other second rotary member. a first link and a second link, rotatably coupled to each other through a joint part; a first linear-motion actuator and a second linear-motion actuator each having a main body (31A, 31B) and a shaft member (62A, 62B) configured to linearly move in an axial center direction relatively to the main body (31A, 31B); and a pair of first connecting members (51A, 51B), wherein the joint part includes a first rotary member disposed so that an axial center thereof is oriented in a first direction and fixedly connected to the first link, and a pair of second rotary members (42A, 42B) disposed so that axial centers thereof are oriented in a second direction perpendicular to the first direction and the second rotary members (42A, 42B) engage with the first rotary member, wherein the first link is relatively rotatable about a first shaft part with respect to the second link in connection with a rotation of the first rotary member, wherein the first shaft part is disposed so that its axial center is oriented in the first direction, wherein the second link is coupled to the joint part through the pair of second rotary members (42A, 42B) so as to be rotatable around a second shaft part, wherein the second shaft part is disposed so that its axial center is oriented in the second direction, wherein the first linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to one of the second rotary members, and pivots the second rotary member by linearly moving the shaft member, wherein the second linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the other second rotary member, and pivots the second rotary member by linearly moving the shaft member, and wherein the first rotary member is pivoted relatively to the second rotary members (42A, 42B) by pivoting the second rotary members (42A, 42B), characterized in that the tip-end part of the first linear-motion actuator is rotatably connected to a tip-end part of one of the first connecting members, wherein a base-end part of the one first connecting member is fixed to an outer circumferential surface of the one second rotary member, wherein the tip-end part of the second linear-motion actuator is rotatably connected to a tip-end part of the other first connecting member, and wherein a base-end part of the other first connecting member is fixed to an outer circumferential surface of the other second rotary member.