The invention provides a piezoelectric electromagnetic combined energy harvester based on parallel mechanism. The harvester includes fixed bracket, three groups of motion branches and movable bracket. The movable bracket includes bottom platform, the bottom platform support frame and the bottom platform connector. The invention realizes multi-direction telescopic motion, and the magnetic flux of the coil is constantly changing, generating induced electromotive force. The vibration of piezoelectric beam causes the polarization of piezoelectric material and produces the output voltage. The invention uses parallel mechanism to introduce twelve piezoelectric beams, twelve permanent magnets and twenty-four coils in a small working space. The limited working space is fully utilized, and the combined working mode of piezoelectric energy collection technology and electromagnetic energy collection technology is adopted to make the overall power generation effect better, improve the power generation, and broaden the effective working bandwidth.