Innovation activities are full of uncertainty, risk and complexity, and innovation failures occur frequently. In this context, how to motivate employees to learn and grow from failure is the focus of scholars and managers. Based on the theory of social cognition and the theory of experiential learning, this paper constructs a research framework of “leader-employee psychology-employee behavior”, and explores the influential mechanism of authentic leadership on employee's learning behaviors from failure in the context of innovation failure. The results show that authentic leadership has a positive influence on the employee's learning behaviors from failure. The perceived insider status and employee resilience play a partial mediating role between authentic leadership and the employee's learning behaviors from failure and form the chain mediating role. The conclusions not only expand the research on employees' learning behaviors and growth from failure in the Chinese context, but also provide theoretical guidance for enterprises on how to build a cultural atmosphere of learning from failure and promote the employee's learning and innovation behavior.