A three-freedom-degree device driven by decoupling single branch chains adjustable in dynamic characteristic comprises a base, a movable platform, the three branch chains, a linear driving unit and two arc driving units; the movable platform is arranged on the upper portion of the base; the lower end portion of the linear driving unit is arranged on the base; the upper end portion of the linear driving unit is connected to the movable platform through a crossed hinge, so that the platform can be driven by the linear driving unit to move up and down in the Z axis direction relative to the base; the arc driving units are both arranged on the crossed hinge, so that the platform can be driven by the arc driving units to rotate in the X axis direction and the Y axis direction relative to the base; the upper end portions and the lower end portions of the branch chains are connected to the movable platform and the base; and the branch chains improve the overall performance of the three-freedom-degree device driven by the decoupling single branch chains adjustable in dynamic characteristic. The three-freedom-degree device driven by the decoupling single branch chains adjustable in dynamic characteristic has the beneficial effects of being easy in driving, large in work space, and the like.