To solve the trajectory tracking control problem of the six degree-of-freedom parallel platform with uncertain modelling errors and external disturbances, a fuzzy non-singular fast terminal sliding mode control method is proposed.A non-singular fast terminal sliding surface is adopted and the universal approximation property of the fuzzy system is used to establish a fuzzy system on each degree of freedom.The adaptive law of the output of the fuzzy system is designed by Lyapunov function, and the adaptive adjustment of the switching term in the non-singular fast terminal sliding mode control is realized.The simulation results show that this method can effectively track the trajectory of the parallel platform with modelling errors, and has certain advantages in restraining output chattering, improving convergence speed and reducing tracking errors.