A high-and-low frequency mixed output parallel three-dimensional motion table with a variable structure mainly comprises the components of a motion output platform, a basic frame and three double-input hybrid kinematic chains with same structure forms. The motion output platform is connected with the basic frame through the three double-input hybrid kinematic chains. Each double-input hybrid kinematic chain is obtained through serially connecting a double-input closed loop unit and a transmission closed loop unit. One end of the double-input closed loop unit is connected with the basic frame, thereby forming a lower closed loop planar five-rod mechanism which comprises three revolute pairs and two moving pairs. The bottom of the transmission closed loop unit is connected with the driving output rod of the double-input closed loop unit. Two ends of each of the a first transmission rod and a second transmission rod are respectively connected with a transmission rod connecting board and the motion output platform through sphere pairs. The high-and-low frequency mixed output parallel three-dimensional motion table can realize multi-freedom and multi-frequency-mixing-form motion output and can be used for simulating complicated hybrid dynamics environments of vehicle, ship, aerial vehicle, etc.