The invention discloses a high-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation, which comprises a fixed frame, a movable platform, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain, second branch chain and third branch chain are used for connecting the fixed frame and the movable platform; the third branch chain is arranged in the symmetrical position between the first branch chain and the second branch chain; a first far hack lever of the first branch chain and a second far hack lever of the second branch chain are arranged in a plane symmetry mode; and the first branch chain, second branch chain and third branch chain are respectively connected with the movable platform through a hinge; and the hinge for connecting the movable platform and the three branch chains is arranged in a plane symmetry mode. The invention can realize three-dimensional translation of complete-turn rotation and satisfy the requirements for common catch and release operations; and the invention has the advantages of great volume ratio of working space to machine frame, high complete machine rigidity, high favorable, high speed and acceleration capacities, and axisymmetric kinematic and dynamic properties, and has multiple reorganizable structural styles to satisfy different demands.