In view of the problems of unstable walking caused by the undesired yaw moment when the humanoid robot walks, a yaw moment control method based on the leg joints control is proposed. The cause of yaw moment and moment balance conditions are analyzed. According to the link model of the humanoid robot and moment balance conditions, the yaw moment control problem is transferred to the problem of quadratic programming with constraints, and the control expressions of the leg joints angles are deduced. In order to improve the tracking performance, a leg joints adaptive controller is proposed and the stability proof is provided. The simulation results shows that the method can counteract the yaw moment, keep the yaw axis moment balance and guarantee the stable walking.