The disclosure discloses an ankle prosthesis hydraulic drive circuit for achieving damping control and energy recovery, belonging to the technical field of prosthesiss and orthotic devices. The hydraulic drive circuit particularly includes a motor, a hydraulic pump, a first check valve, a first high-pressure energy accumulator, a three-position four-way valve, an electromagnetic normally-closed valve, a second high-pressure energy accumulator, a single-rod hydraulic cylinder, an electromagnetic normally-opened valve, a low-pressure energy accumulator, a second check valve, an oil inlet line, an oil outlet line, a first line and a second line. The hydraulic drive circuit provided by the disclosure is capable of outputting enough peak power to meet a normal walking demand, and meanwhile actively controlling the damping of the circuit and recycling energy during the walking.