The invention relates to the field of mechanical claws, in particular to a multi-axis numerical control mechanical claw based on a parallel mechanism. The multi-axis numerical control mechanical claw comprises a grabbing structure, a parallel rotating structure and a packaging shell, wherein the bottom of the parallel rotating structure is rotationally connected with the packaging shell, a mechanical claw angle adjusting cavity is formed in the packaging shell, an angle control structure is arranged in the mechanical claw angle adjusting cavity, and the bottom end of the angle control structure is hinged to the grabbing structure; and the grabbing structure comprises a first fixing plate, a first rotating rod, a second rotating rod, a second fixing plate, a third rotating rod, a clamping plate, fixing rods, a third fixing plate, a first motor 19 and a lead screw 191, and the top ends of the four fixing rods are in threaded connection with the bottom of the third fixing plate. The angle control structure and the rotating structure are arranged at the bottom of the parallel rotating structure, so that the rotating angle of the parallel rotating structure is increased, the mechanical claw can be applied to more working scenes, and the sensitivity of the mechanical claw is effectively improved.