Aiming at the shortcomings of series dexterous hand, a new multi-fingered dexterous hand is designed and analyzed based on the advantage of parallel mechanism. Firstly, according to the method of configuration synthesis, a three-degree-of-freedom parallel finger mechanism is proposed and its kinematics is analyzed. Then, based on the configuration of finger mechanism, a suitable palm is designed and combined into a multi-fingered dexterous hand. Finally, the grasping ability and reachable workspace of the parallel multi-fingered dexterous hand are analyzed and compared with the performance of the series dexterous hand. The results show that the multi-fingered dexterous hand based on parallel mechanism has good motion performance and engineering application prospects.