Aiming at the requirements of lower limb exoskeleton robot, an adaptive fuzzy PID control system design method based on Verilog HDL hardware description language and FPGA (Field programmable logic gate array) was proposed, which was applied to drive and control the joint of lower limb exoskeleton robot. Firstly, the algorithm model was simulated by MATLAB/Simulink system simulation software to verify the stability of the algorithm and the accuracy of parameters. Then Quartus II was used as the development platform to complete the hierarchical design of Verilog HDL for adaptive fuzzy PID controller, which was realized and verified based on FPGA chip EP4CE10F17C8. The experimental results show that the fuzzy PID control can reach the stable state faster, and the overshoot is reduced by 4.7%, and the control algorithm is realized by FPGA to better meet the control requirements of the lower limb exoskeleton robot.