A compensation method for a high-mobility wind tunnel test end-effector pose error generated by a six-dimensional aerodynamic force comprises the following steps: acquiring the deformation of rods, which is generated under the action of a spatial six-dimensional force, wherein the rods are used for connecting a movable platform with a static platform; acquiring the pose that the movable platform holds under the influence of the deformation of the rods; obtaining the displacements of sliding blocks on the static platform through kinematic inverse solution according to the pose of the movable platform; and compensating errors caused by the rods according to the displacements of the sliding blocks, so that the spatial pose error of an end effector of a 6-PSS parallel robot can be effectively reduced to improve the movement precision of the 6-PSS parallel robot.