A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator.