Disclosed herein is a parallel collision detection method using load balancing in order to detect collision between two objects of a polygon soup. The parallel collision detection method is processed in parallel using a plurality of threads. The parallel collision detection method includes traversing a Bounding Volume Traversal Tree (BVTT) using Bounding Volume Hierarchies (BVHs) related to the polygon soup in a depth first search manner or a width first search manner; recursively traversing the children node of an internal node (a parent node) when a currently traversed node is the internal node and two Boundary Volumes (BVs) in the corresponding node overlap, and stopping to traverse the node when the currently traversed node is the internal node and two Boundary Volumes (BVs) do not overlap; and storing collision primitives in a leaf node when the currently traversed node is the leaf node and collision primitives in the leaf node overlap.