The dynamic characteristics of parallel 3-TPT machine tool are researched by experiment in this paper. Firstly, modal analysis principle of machine tool was analyzed in theory, and the parameters of dynamic characteristic were identified by theoretical analysis. Then vibration model of parallel machine tool was built and formed vibration system of rigid and flexible coupling for analysis. Then, the modal experiment method and steps were introduced, and the experiment parameters also were identified according to the experiment results. The result dates are showed that the result dates are validated. So the experiment method is feasible by experimental verification, which provides reference for dynamic optimal design.