The invention relates to a three-degree-of-freedom parallel mechanism with arc-shaped sliding pairs. The three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and three arc-shaped branched chains arranged between the fixed platform and the movable platform; each arc-shaped branched chain comprises a first arc-shaped connecting rod and a second arc-shaped connecting rod which share on arc center, one end of the first arc-shaped connecting rod is connected with the fixed platform through a rotation pair, one end of the second arc-shaped connecting rod is arranged in a cavity in the other end of the first arc-shaped connecting rod, the second arc-shaped connecting rod can do reciprocating motion in the tangential direction of the arc of the first arc-shaped connecting rod, and the other end of the second arc-shaped connecting rod is connected with the movable platform through a spherical hinge manner; and the axes of the three rotation pairs of the three arc-shaped branched chains are coincident and are vertical to the fixed platform. According to the three-degree-of-freedom parallel mechanism with the arc-shaped sliding pairs, the movable platform of the parallel mechanism rotates around the X axis, the Y axis and the Z axis of a coordinate system with the arc centers of the three arc-shaped branched chains as the circle center, and rotation of the movable platform around the Z axis has decoupling compared with rotation in the other two directions.