The invention discloses a bionic wrist joint based on an asymmetric 3-RRR parallel mechanism, including: an asymmetric 3-RRR parallel mechanism and a drive unit. The asymmetric 3-RRR parallel mechanism includes: a moving platform, a first static platform, and three asymmetrically distributed parallel branch chains, wherein each branch chain includes a passive rod and an active rod. An end of the active rod is connected to the first static platform via the revolute pair, and another end thereof is connected to the passive rod via the revolute pair. The axes of the revolute pairs at two ends of the active rod form an axis included angle. Three axis included angles are different, the passive rod and the moving platform are connected by the revolute pair, and three axis included angles corresponding to the passive rods are different. The drive unit is configured to drive the asymmetric 3-RRR parallel mechanism to move.