In mobile robots, wheeled-legged robots are propelled by C-shaped legs that rotate around the circumference. They combine the excellent obstacle-surmounting ability of traditional legged robots with the high-speed forward movement of wheeled robots, making them promising for applications such as field exploration, post-disaster search and rescue, and military reconnaissance. However, the contradictory issue of robot center of mass fluctuations and forward displacement during balanced C-leg movement poses a significant challenge. This paper proposes a reconfigurable Compliant wheel-leg based on environmental adaptability. Firstly, a modeling analysis is conducted, and the advantages of Compliant wheel-leg over traditional C-leg are verified through ADAMS dynamic simulation analysis. The dynamic simulation demonstrates that the Compliant wheel-leg can increase the robot's single-step forward displacement while ensuring that the robot’s center of mass fluctuation remains unchanged. This improvement not only ensures smooth and high-speed robot motion but also improves the robot's ability to cross trenches. Additionally, the Compliant wheel-leg can effectively reduce ground impact, enhancing the robot's environmental adaptability.