A novel hybrid manipulator is proposed and its kinematics and dynamics are analyzed systematically. First, a 3D prototype of the hybrid manipulator is constructed and analyzed. It is composed of a 5-DoF parallel manipulator with two equivalent composite universal joints and three fingers. Second, the kinematics formulae are established for solving the displacement, velocity and acceleration of the parallel manipulator and the finger mechanisms. Third, the dynamics formulae are derived for solving the dynamic active and constrained forces of the parallel manipulator and the finger mechanisms. Finally, a numerical example is given for solving the kinematics and the dynamics of the hybrid manipulator and the analytic solved results are verified by the simulation mechanism.