A new orthogonal spherical three degrees of freedom (3-DOF) parallel mechanism was presented, and its kinematics performance was analyzed. The position equations and kinematics transmission equations were given by the relation of geometry. Based on the Lagrange method, the evaluation indices of the velocity performance and isotropy performance were defined. The motion characteristics of the mechanism were analyzed, and the distribution of performance indices of the mechanism in task space was studied. The results show that, in the workspace, the range of the velocity performance index is from 0.69157 to 0.96569, the range of isotropic index is from 0.44710 to 0.91281, and the variations of two kinematics transmission performance indices in the working space are small and uniform distribution, so the performance stability of the mechanism within the workspace is good, and the mechanism has good kinematics transmission performance and isotropy performance. With the mechanism for the prototype, a shoulder joint of humanoid robot is developed. It has the advantages of simple and compact structure, easy manufacturing, and lower motion inertia, etc. It is an ideal shoulder joint configuration for the humanoid robot.