Disclosed are a cycloidal gear (1), a reducer (2) having the cycloidal gear (1), and a robot having the reducer (2). The cycloidal gear (1) comprises a plurality of gear teeth (13), wherein the plurality of gear teeth (13) are uniformly distributed on an outer circumferential surface of the cycloidal gear (1), a tooth groove (14) is provided between two adjacent gear teeth (13), at least one tooth groove (14) is provided with a lubrication groove (15), and the lubrication groove (15) is recessed towards an axis of the cycloidal gear (1). A lubricant is stored in the lubrication groove (15) of the cycloidal gear (1), thereby facilitating lubricating transmission parts cooperating with the cycloidal gear (1), such that the wear of the cycloidal gear (1) is reduced, the transmission precision is improved, and the service life and reliability are improved. In addition, the cycloidal gear (1) has a simple production process, convenient processing, a high processing efficiency, and a low processing cost.
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