This paper proposes a kind of 3 degree-of-freedom spatial parallel micromanipulator driven by linear ultrasonic motors, as well as the kinematic and dynamic analysis. The micromanipulator is a parallel mechanism jointed by flexible hinges. It has two fingers and the moving finger is driven by linear ultrasonic motors which possess plenty of advantages such as high displacement resolution, fast response time and large workspace. The kinematic model of the micromanipulator is built and the mathematical relationship between the output displacement and the input displacement is derived. Utilizing Pro-E, ANSYS and ADAMS software, the dynamic model of the micromanipulator is established and the displacement, velocity and acceleration characteristics on x,y,z axes are analyzed respectively. The maximum operating speed of the end-effector is calculated as 216 mm/s. Experiments indicate that the micromanipulator manages to grip micro-particles of different sizes. The maximum operational workspace of the micromanipulator can reach 2 mm×2 mm×20 mm, while the displacement resolution is 100 nm.