To improve the shortcomings of the current landing cushion device that requires high landing terrain and is not reusable, a reusable four-legged lander based on a bionic structure is designed with reference to the composition of insect landing leg structures in nature. The support leg adopts the composition of “rigid body control thigh structure plus circular arc structure leg structure”, using a friction brake as a design method for a cushioning and energy absorbing device, which makes the landing impact load as thermal energy by friction work. The friction brake is applied to dissipate the landing impact load in the form of thermal energy to achieve cushion energy absorption. The D-H parametric method is applied to derive the chi-square matrix transformation of the support leg, and the forward and reverse kinematics analysis of the support leg is carried out for the bionic leg type cushioning structure. The theoretical model of the support leg is established and dynamics simulation is performed. The result shows that the reusable lander has good landing buffer performance and can provide a feasible solution for China’s subsequent deep space exploration missions.