The invention provides a redundant parallel mechanism-based three dimensional acceleration sensor for well drilling. The redundant parallel mechanism-based three dimensional acceleration sensor for well drilling includes an end cap and a housing with an inner cavity, wherein the end cap is arranged at the upper port of the inner cavity. The redundant parallel mechanism-based three dimensional acceleration sensor for a drilling well also includes a redundant parallel mechanism and a circuit board, wherein the circuit board is arranged in the inner cavity, and is connected with the redundant parallel mechanism; the redundant parallel mechanism is accommodated in the inner cavity; the redundant parallel mechanism includes a mass ball, a support and six connecting arms; the mass ball is arranged in the support; the opposite two ends of each connecting arm are respectively movably connected with the support and the mass ball; and each connecting arm is provided with a grating ruler for sensing the accelerated speed. The redundant parallel mechanism-based three dimensional acceleration sensor for well drilling has the advantages of taking the redundant parallel mechanism as the elastomerstructure, thus being high in reliability and good in the anti-vibration effect; and taking the grating rulers as the detection components, thus greatly reducing the temperature drift error of the sensor, and greatly improving the measuring accuracy of the sensor so as to improve the accuracy of measuring boring locus during the deep prospecting process.