The invention relates to a danger rescue and pipe parallel robot, comprising a 3 degree of freedom (DOF) parallel waist mechanism, a hand operating device and a foot operating device. The robot can realize integral 3-free swinging and peristaltic expansion along the forward direction. The hand operating device can realize forward moving, forward grabbing, excavating, dredging, obstacle-eliminating and the like of the robot via a group of rocker mechanisms. The foot operating device can realize forward moving, anchoring, hacking or non-returning of the robot via a group of rocker mechanisms. Comprehensive utilization of the parallel waist mechanism, the hand and foot operating devices, supporting wheels and a control device can realize automatic walking, turning, climbing, turning over andthe like of the robot. The robot is suitable for star probing, military reconnaissance, probing and eliminating of dangerous goods, earthquake field rescue and cable traction, dredging, obstacle-eliminating and the like in the straight / bend pipes for oil transport and pollution discharge and the variable diameter and vertical pipes.