A hand-foot composite motion exercise machine generally includes a supportive frame, a transmission unit, a crank means, and a pair of linkage units. The exercise machine allows a user to change the configuration of each linkage unit through a raising/lowering device and a displacing device, so as to adjust the motion path of a pedal provided at each linkage unit, and the force required for treading the pedal. In use, while a user steps on the pedals to exercise, each pedal can perform a substantially elliptical closed path, which is ergonomical so that the user can be protected from exercise injury.