For improving the mobility and obstacle climbing ability of the bionic gecko, a bionic moving joint configuration in legged style with two degrees of freedom is designed and developed. Based on the principle of mechanism, the sucker, steering engine and planar linkage, etc. are organically integrated with gecko morphology, and 3D solid modeling of the joint components based on features is constructed, which realize the motion function simulation of the legged joint on the basis of profiling design. The correctness and feasibility of the transmission design are verified through the trajectory simulation of the large and small leg joints. At the same time, the swing angle（0～73°） and obstacle climbing height（＞30 mm） of the bionic joint are analyzed. The results of static analysis show that the bionic joint under different load-bearing environments（such as flat ground, hang upside down, vertical wall） can meet the design requirements of strength and stiffness. The experimental test of the bionic gecko shows that the legged joint has not only stable movement and reliable force transmission performance, but also good bionic mobility. This study provides an new ideas for the mobile technology exploration of bionic gecko.