The invention discloses a six-DOF narrow-footprint biped heel-and-toe robot. The six-DOF narrow-footprint biped heel-and-toe robot is characterized by comprising a top plate, hip U-shaped members, connecting plates, knee U-shaped members, ankle U-shaped members, right-angled fasteners, sole plates, motors, batteries, and a control panel. The knee U-shaped members are as large as the ankle U-shaped members and fixedly connected with the ankle U-shaped members in a cross manner; the knee U-shaped members are then connected with motor torque output shafts respectively. The hip U-shaped members are connected with motor output shafts respectively. The motors connected with the knee U-shaped members are fixedly connected with the sole plates through the right-angled fasteners. The motor torque output shafts are parallel to the lengthwise direction of the sole plates. The lengthwise direction of the sole plates is parallel to the forward direction of the robot. The motors connected with the knee U-shaped members are fixedly connected with the motors connected with the hip U-shaped members, through the connecting plates. When the hip U-shaped members are fixedly connected with the top plates, left and right legs are fixedly connected with the motors connected with the hip U-shaped members, through the connecting plates; when the hip U-shaped members are fixedly connected with the top plates, the output shafts of the motors whereby the left and right legs are fixedly connected with the sole plates are both outside the left and right legs. The six-DOF narrow-footprint biped heel-and-toe robot is available for forward motion, stand, forward roll and backward roll, and is simple in structure and convenient to control.