This study aims to investigate the analysis and control of a novel 3-DOF three-axial parallel manipulator driven by the pneumatic servo system. The analysis of the system contains the kinematic analysis and dynamic analysis. In the kinematic analysis, the geometric method is introduced to solve the kinematic relation between the actuated joints and the moving platform. A vector-loop closure equation is first established for each limb of the manipulator, and then the solutions for both the inverse and forward kinematics are obtained by solving the vector-loop equations. Furthermore, the velocity relation between the actuators and the moving platform are also considered and obtained by deriving the manipulator Jacobian matrix. In the dynamic analysis, the actuator dynamics is first derived by introducing the mathematical model of the pneumatic cylinder system. Then, the dynamic model of the parallel manipulator is derived using virtual work principle. The control system design applies a dual-loop feedback control scheme with an inner pressure control loop and an outer position control loop using the pressure difference feedback and the position feedback. The inverse dynamics control approach is used to decouple the nonlinear manipulator system then combined with the inner pressure difference control loop for each pneumatic cylinder and implemented in the overall control system to realize the motion control for the overall manipulator system. Finally, the real-time experiments of trajectory tracking control of the manipulator end-effector are carried out to verify the control performance of the proposed control system.