Provided is a walking assist device including a load transmit portion, a ground contacting portion capable of using a commercially available shoe, and a leg link disposed therebetween. The ground contacting portion is composed of a footboard for supporting the shoe thereon. The footboard is provided with a connection member connected to the leg link and a front holding member and a rear holding member for stably holding a front vamp portion and a rear vamp portion, respectively, of the shoe in an anteroposterior direction. When a pressure sensor for detecting a stepping force from a user is provided in the footboard, the front holding member is located ahead of the pressure sensor.