Div需要被集中
这个问题在这里已经有了答案:
  如果您使用的是boostrap 4,那么将class justify-content-md-center到具有row类的div完成这项工作。  但似乎你正在使用引导3,所以你可以使用offset类。  尝试以这种方式更新您的代码。 
<div class="container">
  <div class="row">
    <div class="col-sm-12" id="middleBoxMargin">
      <div class="row" id="middleBox">
        <div class="col-sm-2 col-sm-offset-2">
          <div id="groupInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="lifeInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="dentalInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="replacementInsurance"></div>
        </div>
      </div>
    </div>
  </div>
</div>
你可以使用flex
#middleBox {
    display: flex;
    justify-content:center
}
.col {
  padding: 0 15px;
}
.box {
    background-color: #EEEEEE;
    text-align: center;
    height: 100px;
    width: 100px;
}<div class="container">
  
            <div id="middleBox">
                   <div class="col">
                    <div id="groupInsurance" class="box"></div>
                   </div>
                   <div class="col">
                    <div id="lifeInsurance" class="box"></div>
                   </div> 
                   <div class="col"> 
                    <div id="dentalInsurance" class="box"></div>
                   </div> 
                   <div class="col"> 
                    <div id="replacementInsurance" class="box"></div>
                   </div>
            </div>
            
 </div>我会做这样的事情:
div {
  border: 1px solid black;
}
#middleBoxMargin {
  margin-top: 80px;
}
#middleBox {
  display: flex;
  justify-content: center;
}
#middleBox > div {
  background-color: #EEEEEE;
  text-align: center;
  height: 145px;
  width: 20%;
  margin: 5px 10px;
}<div class="container">
  <div class="row">
    <div class="col-sm-12" id="middleBoxMargin">
      <div id="middleBox">
        <div class="col-sm-2">
          <div id="groupInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="lifeInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="dentalInsurance"></div>
        </div>
        <div class="col-sm-2">
          <div id="replacementInsurance"></div>
        </div>
      </div>
    </div>
  </div>
</div>