The invention discloses a parameter integrated design method for a five-degree-of-freedom hybrid robot. The parameter integrated design method comprises the following steps of: taking a working space midpoint as a reference point, taking kinematics performances as constraint conditions, and taking maximum working space volume as a target to determine scale parameters of a mechanism; taking static rigidity performances as constraints, and taking elastic kinematics performances as an optimization target to determine key structural parameters of a part; and determining parameters of a servo motor based on drive joint equivalent rotational inertia, rotation speed and rotation torque during motion along typical track. According to the parameter integrated design method disclosed by the invention, kinematics, statics and dynamics performances of the robot are comprehensively taken into consideration with the adoption of a hierarchical idea, so that integrated design of scale, structure and drive parameters can be realized. Kinematics, statics and dynamics performances, on any configuration, of the robot are mainly related to motion/force transmissibility of the mechanism, and therefore, parameters can be designed on a working space center to ensure global performances of the robot, and design workload can be greatly saved.