Objective In response to the great demand of spastic cerebral palsy patients for lower limb motor function rehabilitation in children with spastic cerebral palsy (SCP), to design a passive rehabilitation type lower limb rehabilitation training device according to clinical guidance. Methods The device was composed of control system, coding actuator and exoskeleton support. Under the control of the system, the coding actuator drove the exoskeleton support to perform passive rehabilitation movements in the corresponding mode. The prototype was designed, manufactured and tested according to the relevant regulations of medical devices. In order to verify the performance of the equipment, the angular parameters, angular velocity, hip width and load were measured. Results The structural design and functional parameters of the equipment were in line with the provisions of relevant laws and regulations, and met the expected objectives of the design. The equipment could make the acetabular bone and femoral head in the range of 50°to 110°, at the speed from 5°/s to 16°/s for hip rehabilitation exercise, which could effectively help children to carry out continuous passive rehabilitation training of hip joint. Conclusion The passive rehabilitation lower limb rehabilitation training equipment developed in this paper can be used for rehabilitation training after SCP hip dislocation in children, to intervene in the process of hip dysplasia, reduce the risk of hip dislocation prevention, and improve the children’s lower limb movement ability, which is correct and feasible.