The invention relates to the field of biorobot foot joint mechanisms, in particular to a high energy efficiency energy controllable foot mechanism. The foot mechanism comprises a shoe shell componentand a foot energy storage and release mechanism, wherein the shoe shell component comprises side baffles and further comprises a shoe cover component connected with the side baffle; the foot energy storage and release mechanism comprises front prop bracket and rear prop brackets; the front prop brackets and the rear prop brackets are articulated with the front ends and the rear ends of the side baffles respectively; pressure springs are connected between the front prop brackets and the rear prop brackets; and the front prop brackets and the rear prop brackets are provided with clamping components for limiting rotation of the front prop brackets and the rear prop brackets and storing energy. An alternative energy absorption and energy release process is implemented for a gait process of heel landing, half sole landing, half sole liftoff and heel liftoff to optimize the storage of the energy released during walking; the stored energy is utilized efficiently and automatically; and at last, the efficiency of the mechanism is improved.