With the development of Condition-Based Maintenance, there is an urgent need for failure dependence of redundant components in parallel system. In this paper, Markov maintenance cost decision analysis based on failure dependence of components was put forward, moreover, maintenance cost optimal model of parallel system with cost rate was established, meanwhile, the minimum cost rate as well as corresponding optimal detection interval was obtained. Finally, failure dependence and dependent failure rate to parallel system maintenance cost optimal model were studied and realized to prove this theory.