The invention discloses a hedgerow pruning manipulator with six degrees of freedom (DOP). The manipulator comprises a main swing mechanism, a pruning knife assembly and a supporting mechanism, wherein the supporting mechanism is fixed on a dragging vehicle, and consists of a base, a rotary component, a lifting component and a telescopic component; the front end of the supporting mechanism is fixedly provided with the main swing mechanism capable of doing gyroscopic motion; the output shaft end of the main swing mechanism is fixedly connected with a horizontal mechanical arm the front end of which is connected with a vertical mechanical arm, and the front end of the vertical mechanical arm is provided with a wrist joint; the output end of the wrist joint is fixedly provided with the pruning knife assembly; and a control system utilizes a control module which takes ARM series processors as the core to automatically control the joint operation of the horizontal mechanical arm, the vertical mechanical arm, the wrist joint and the main swing mechanism, so that the pruning knife can be operated along various tracks in space, thus realizing pruning operation of various form such as a spherical shape, a conical shape, a cylindrical shape, a plane, an inclined face, a wavy face and the like. The pruning manipulator has the characteristics of high automaticity, wide adaptability, energy conservation, environmental protection and the like, and is convenient to popularize and use.