The invention discloses a humanoid-neck parallel robot and a control method thereof. The humanoid-neck parallel robot comprises a moving platform, a fixed platform, soft ropes, a compression spring, a base, a switching power supply, step motor drivers, a single-chip microcomputer, a liquid crystal display module, an upper computer, step motors, columns, a tilt sensor, and pulleys; the step motors and the columns are fixed on the base; the tilt sensor is fixed on the moving platform; the pulleys are fixed on step motor shafts. The base is connected with the fixed platform through the columns. The fixed platform is connected with the moving platform through the compression spring. The step motors are connected with the moving platform through the soft ropes. The tilt sensor is connected with the single-chip microcomputer; the step motors are connected with the step motor drivers; the step motor drivers are connected with both the switching power supply and the single-chip microcomputer. The single-chip microcomputer is in communication connection with the upper computer. The humanoid-neck parallel robot can perform pitching motion, rolling motion and compound action of the pitching and rolling motions as simulation requires, the attitude of the robot, entered in software, can be achieved, and the humanoid-neck parallel robot is low in cost and convenient to operate.