The invention belongs to the technical field of automotive rear bridges, particularly relates to a single-shaft four-wheel damping rear wheel driving bridge, which comprises wheels, an automotive body frame, a plate spring, a wheel disc, a difference velocity machine, a shaft shell rotating connecting mechanism, a cardan joint, a driving shaft, a bearing rotating structure, a second rotating shaft, a bearing, a first conical tooth matching, a first rotating shaft, a rotation axle, a third rotating shaft, a second conical tooth matching and bearing supports and the like, wherein the automotive body frame is arranged on the bearing rotating structure through the plate spring, the bearing rotating structure can rotate in a certain angle in the bearing supports through rotating pairs, and the two bearing supports are respectively arranged between two wheels arranged on one side. When the wheels meet a certain height of bump on the road, the bearing rotating structure can control support points of an automotive body between the two wheels on one side to go up and down in the half of the height of the bump, if any one of the two wheels on one side is stressed on the bump, the other wheel is also stressed, and momentary force is distributed on the two wheels, thereby enhancing reliability of a mechanism.