A parallel laser welding robot with three legs and five degrees-of-freedom(DOF) is proposed. The parallel robot has spatial working capacities of five DOFs due to its three legs. The forward and inverse kinematics models of this parallel robot are built for laser welding by analyzing its structure characteristics. Then the analytical method is employed to solve the models and the computer simulation is carried out. Finally,the experiments of laser welding with this parallel robot are implemented. The simulation and experiment results show that the proposed parallel robot is suitable for actual laser welding with high speed and high accuracy.