The invention provides a three-degree-of-freedom parallel serial joint plastic operation robot. The problems of uneven operation level of doctors and low overall precision in the present prosthesis joint replacement are solved. The three-degree-of-freedom parallel serial joint plastic operation robot comprises a workbench, wherein a vertical mechanism and horizontal mechanisms are arranged on the workbench; an abrasive drilling mechanism is arranged on each of the horizontal mechanisms; the quantity of the horizontal mechanisms is two; the horizontal mechanisms are respectively arranged on the two sides of the vertical mechanism; the vertical mechanism comprises a vertical sliding table and a vertical driving component; each of the horizontal mechanisms comprises a horizontal sliding table and a horizontal driving component; connecting arms are fixedly connected with the two sides of the vertical sliding table; an outer end of each connecting arm is hinged to the horizontal sliding table on the corresponding side; a claw arm forward extends from each of the horizontal mechanisms; a sleeve ring is arranged at the front end of each claw arm; the sleeve rings forward extending from the horizontal mechanisms on the two sides are vertically overlapped and formed into a communicated sleeve hole; the abrasive drilling mechanism is penetrated through the sleeve hole; an inner wall of the sleeve hole is in sliding contact with an outer wall of the abrasive drilling mechanism. According to the invention, a triangular structure is adopted by the robot, so that the accurate route of a three-dimensional space track is realized and the face cutting precision of a bone joint is increased.