The invention relates to a parallel experimental device for six-degree-of-freedom gait simulation, which comprises a frame, a six-bar parallel mechanism and a series loading device, wherein the frame is provided with a force-plate-mounting-height adjusting device and a tendon driving device. The force-plate-mounting-height adjusting device is mounted on a lower platform surface of the frame and comprises four lead screws, four lower nuts, four upper nuts and two force plate mounting racks, the tendon driving device comprises a motor, a coupler, a reduction gear set, a sprocket and a chain, the six-bar parallel mechanism comprises a fixed platform, a movable platform, 12 groups of hooke hinges and six identical movement branching chains, and the series loading device comprises a hydraulic cylinder, a guide rail fixing shaft, a force sensor and a shin bone connecting shaft system with an indexing disc, wherein the hydraulic cylinder is fixed onto a movable platform, and the guide rail fixing shaft is capable of sliding along a sliding groove. The experimental device can not only simulate six-degree-of-freedom movement of shin bones fixed by a loading shaft system, but also axially load force (such as gravity, microgravity or the like) to the shin bones, and can be effectively used for researching ankle dynamics.