Objective To explore the interaction between nerve drive and muscle force through the joint simulation of the neuromuscular model and musculoskeletal finite element model, and to understand the mechanism of neural rehabilitation more clearly. Methods The neuro musculoskeletal finite element model of the lower limb knee joint was established based on CT medical images. Then, the motoneuron model of the flexor muscle biceps femoris of the lower limb knee joint was established in NEURON software using the method of establishing the structure of soleus motoneuron of the cat. Finally, the muscle force calculated by neuronal stimulation was invoked in VUAMP software to simulate the dynamic characteristics of muscle driven by neural. Results The muscle strength predicted by a single NEURON in the NEURON software was compared with the muscle strength obtained by the simulation calculation of the integrated model in VUAMP software. The root-mean-square error was very small, which verified the effective integration of NEURON and Abaqus. The recruitment rule of the motor unit and the proportion of the interspike interval obtained by integrated model simulation were consistent with the conclusion of the biomedical experiment and the neural behavior in the human body. The contact force analysis of knee meniscus was carried out, and the simulation results were consistent with the conclusion of human biomechanics, which shows the feasibility of the simulation model. Conclusion The neuromusculoskeletal model established in this paper will help to study the mechanism and treatment of lower limb musculoskeletal movement and neurodegenerative diseases, and can be used as a reference for the assistive control strategy of lower limb exoskeleton, and can also be applied to dynamic simulation of other limb motion.