The development of high-performance robotic prosthetic arms is a hope for patients with upper limb amputation. However, conventional prosthetic arms exhibited several design issues such as the heaviness of the arms and insufficient degrees of freedom (DoF) to fully integrate the biomechanics of human arms. As a solution, a human-inspired wrist joint of a prosthetic arm has been developed to realize lightweight and high-DoF arms. Based on human anatomy and task analysis, we have designed a novel human-inspired bionic wrist with high-DoF. The proposed bionic wrist was designed with a unique two-row ellipsoid structure inspired by human wrist carpals, and it is actuated by a novel routing method using a ligaments tunnel. Moreover, we have developed a structure that can independently drive multiple degrees of freedom under-actuation by mimicking the mechanism of human muscles. We have also proposed a novel sensing solution to measure the contacting wrist joint’s angle and force simultaneously without the need for bulky and expensive sensors (i.e., inertial measurement unit and strain gauge). As a result, we have developed light and dexterous wrist joints with dual sensing capacity that can be widely used for robotic contact joints actuated by linear actuators.