A novel 6-DOF parallel platform based on piezoelectric actuation is proposed. The mechanical structure of the platform is examined to analyze its kinematic problems, and the degrees of freedom of the platform are verified using a modified Grübler-Kutzbach formula. Based on the structural and motion characteristics of the platform, the kinematic analytical model is derived using the homogeneous transformation method. The specific motion results obtained from the kinematic model are compared with those derived using Adams simulation software to validate the accuracy of the kinematic model. This research provides a theoretical foundation for the design and future practical applications of similar piezoelectric parallel platforms.