A power leg rest for a vehicle includes a pair of fixed plates; a main pipe connected to between internal surfaces of the fixed plates; a tilt motor tiltably mounted to the main pipe; a pair of main links fastened to external surfaces of the fixed plates by respective first hinge pins; a support pipe connected to between front end portions of the main links; a lead nut bracket coupled to a lead screw and movable forwards and backwards and hingedly fastened to the support pipe; a pair of leg rest links mounted on both sides of a leg rest frame; and a pair of driving links, each being hingedly fastened to corresponding ones of the leg rest links, the main links, and the fixed plates, operating in linkage with the main link, and folding or unfolding the pair of leg rest links.