The invention relates to a serial-parallel artificial wrist joint with three degrees of freedom. The device is in a serial-parallel structure, has the three degrees of freedom and can be used for achieving movements of medial rotation, lateral rotation, flexion, extension and lateral deviation of an artificial wrist joint. The device comprises a base, a rotating platform, a first driving branch chain, a second driving branch chain, a constraint branch chain and a movable platform. The rotating platform is in key connection with a motor, so that the movements of medial rotation and lateral rotation of the artificial wrist joint can be achieved; through the extension and retraction of the first driving branch chain and the second driving branch chain, the movable platform is enabled to rotate around two axes of a Hooke pair in the constraint branch chain, and the movements of flexion and extension are achieved. The device has the advantages of being high in rigidity, strong in carrying capacity, high in accuracy, strong in bio-imitability and functionality, and on the like.