A wrist structure of an industrial robot including a second wrist power transmission part transmitting power of a second wrist motor to a second wrist element and a third wrist power transmission part transmitting power of a third wrist motor to a third wrist element. The second wrist power transmission part includes a hypoid gear set, a drive shaft, a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation to the drive shaft, and a second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the second wrist small gear, and the third wrist power transmission part includes a hypoid gear set and a third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation to the third wrist small gear.