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A conceptual design of a novel six-axis hybrid machine tool with five-face machining capability was proposed. Based on the relative motions between the typical cutter and workpiece, the transformation matrix between the cutter and the workpiece was obtained. The transformation matrix was realized by the hybrid kinematics model of the machine tool. In this conceptual design, the few degree-of-freedom 3-PRS parallel mechanism was adopted at the spindle component to realize the linear Z-axis motions and rotary A and B-axis swinging motions, and the X-Y parallel driven mechanism and the C-axis NC rotation workbench were employed at the worktable side. The spindle component driven by 3-PRS parallel mechanism has the capability to swing ±45° by lean layout and designing component reasonably. The kinematics, rigidity and the workspace of the 3-PRS parallel mechanism were analyzed. Also the force bearing of the X-Y parallel platform and the 4 guides of the X- and Y-axis sliding tables was investigated.