A walking assistance device 1 of the present invention includes a waist wearing belt 2 to be put around a waist U3 and including a pad member 21a to be put on a waist side portion U31 of a user U1, a thigh link portion 3 to be arranged on a side of a thigh U11, a lower leg link portion 4 to be arranged on a side of a lower leg U12, a lower leg wearing portion 5 to be put on the lower leg U12 and mounted on the lower leg link portion 4, a waist joint portion 6 configured to hold an upper end portion of the thigh link portion 3 so that the thigh link portion 3 swings and the waist joint portion 6 being mounted on the waist wearing belt to be opposite the pad member 21a, and a knee joint portion 7 configured to connect the thigh link portion 3 and the lower leg link portion 4 so that the thigh link portion 3 and the lower leg link portion 4 swing. The thigh link portion 3 and the lower leg link portion 4 have rigidity that is greater in the front-rear direction and an up-down direction than in a right-left direction so as to be elastically twisted around an axis along an elongated direction.
