A limb rehabilitation and training system includes a horizontal position adjuster movably mounted at a bottom side of a base, an expansion rotary member mounted at the horizontal position adjuster, a shoulder joint traction mechanism linked to the expansion rotary member through a first arm segment robotic arm and a height adjuster, and an upper-limb rehabilitation device linked to the shoulder joint traction mechanism. The upper-limb rehabilitation device is able to rapidly be adjusted to fit the left arm or right arm through the horizontal position adjuster, the expansion rotary member, the first arm segment robotic arm and a shoulder positioning-lifting rotary member and. Further, by means of the shoulder joint traction mechanism, the user's stiffened shoulder joint can be timely moved for a separation distance, achieving the function of loosening the joint and facilitating performance of successive rehabilitation treatment or training.