A walking assisting device having leg links (2L, 2R) connected to a load transfer portion (1) via first joints (3), wherein each leg link is free to bend and stretch at a second joint (5) in the middle of the leg link and is formed in such a length that the leg link is bent with the second joint projecting forward of a reference line (L2) even if a user is standing upright, where the reference line is defined as a line connecting a forward/backward swing fulcrum (3a) of the leg link to a third joint (7) at the lower end of the leg link, thereby improving the stability by diminishing a moment in a forward tilting direction generated in the leg link when the user is standing upright. Each of the leg links (2L, 2R) is provided with an overhanging portion (42) which projects on the side opposite to the second joint (5) in the forward/backward direction relative to the reference line (L2), and a driving source (9) for the second joint (5) is mounted on the overhanging portion (42) to keep good weight balance between forward and backward of the reference line (L2), The driving force of the driving source (9) is transmitted to the second joint (5) via driving force transmission means (91)-
