The present invention is to provide a feet stretching device, which includes a base placed on the ground; an extendable rod having an end fixed at a front edge of the base and the other end extended upward; a control device having a control panel fixed at the other end of the extendable rod, two control handles disposed at two sides of the control panel for being held by user's hands, and a control circuit for generating different output signals selected by the user; and a driving mechanism having an end pivotally linked with the base at a position near a back edge of the base and the other end movably and reciprocatingly mounted on a support plate, so as to dynamically kept the angle between the support plate and the base according to the output signal for performing a stretching exercise on user's feet standing on the support plate.