The invention discloses a telescoping three-dimensional parking device driven by a parallel four-bar mechanism, belongs to the field of mechanical structures, and particularly relates to an automaticparking device of a mechanical structure. The rotation of a lifting motor drives a worm to rotate, and then drives a gear to rotate, and then drives a main rod to rotate downwards, so that a second telescopic rod rotates to lift a lifting platform, a lifting table on the lifting platform lifts a vehicle through a lifting machine, the lifting motor continues to rotate, the lifting platform moves into a parking space, at this time, the lifting table holds the vehicle on the upper side of a floor of one high-rise parking space, and a loading platform at this time is located on the lower side of the floor of the high-rise parking space, the lifting machine moves in a convex-shaped hollow part of the floor, after the vehicle is in position, the lifting machine retracts the lifting table which is located on the lower side of the floor of the parking space after passing through the convex-shaped hollow part, and then the lifting motor rotates reversely to restore the lifting platform to original position. The telescoping three-dimensional parking device driven by the parallel four-bar mechanism has the advantages of convenient parking, saving parking space and greatly increasing parking quantity.