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Compliant joint is mostly applied in the field of micro-operations. Instead of traditional kinematic pairs, compliant joints were designed by using method of structural parameters to satisfy the experimental requirement, and a parallel robot with compliant joints was proposed. Combined with the control unite and OPTOTRAK measurement, the experiment system of a 3-DOF compliant parallel robot was set up for the mechanism dynamics modeling, analysis, design, planning, and control system. The experimental study of the parallel robot with compliant joints was presented, compared to that with revolute joints. Through comparative analysis, relative errors of the experimental index were controlled within the allowable range. The experimental result showed the validity of compliant joints in replacing the kinematic pairs of parallel robots.