The invention relates to a parallel-connection three-dimensional force sensor with a decoupling structure, belonging to the technical field of sensors. The sensor consists of a fixed base 1, a force measurement platform 2 and three branches which connect the fixed base and the force measurement platform, wherein the fixed base 1 is fixedly connected with three force-sensitive inductive elements 6, 10 and 14 and connected with each branch through a revolving pair, the force measurement platform is connected with each branch through the revolving pair, each branch is formed by connecting the three revolving pairs in series, three revolving pair axes forming the same branch are parallel with each other, the revolving pair axes among different branches are perpendicular to each other in space, and the force signal detected by the force-sensitive inductive element of each branch has the same direction with the revolving pair axes of the branch. The sensor can sense special three-dimensional information, has symmetrical structure, simple manufacture and dimensional decoupling, is formed by assembling separative elements, is convenient for realizing seriation, and can be applied to various fields, such as robots, aerospace, athletic sports, and the like needing for three-dimensional force measurement.