A walking assistance device has a leg link formed by connecting a first link member and a second link member through a third joint assembly. A force generated at the leg link by driving the third joint assembly is transmitted to the body of a user. The walking assistance device enables the user to deeply squat by making the third joint assembly highly bendable. The third joint assembly is has with a joint link member, a first joint which connects the joint link member and a first link member, and a second joint which connects the joint link member and the second link member. The walking assistance device is further equipped with a drive source which imparts a torque in a stretching direction to the first joint, and an elastic member which elastically holds the second joint in a predetermined stretched state until predetermined value or more acts thereon.