Compared with the conventional serial robots, Parallel robots can provide many advantages including high accuracy, high rigidity, and high payload capacity. However, parallel robots usually have a major drawback of limited workspace, which restricts their wide range of applications. On the other hand, mobile robots dedicate to a very large and dexterous workspace and have been extensively applied in various autonomous systems. In our research, the conceptual design of a novel mobile parallel manipulator (MPM), which is integrated by a multi-degree of freedom parallel robot and an autonomous wheeled mobile platform, is proposed to overcome the shortcoming of the parallel robot and perform high accuracy tasks. Both the position and differential kinematics for the hybrid system are solved in detail, and the mathematical model describing the MPM dynamics is generated via the Lagrangian approach with simplification hypotheses adopted. Moreover, taking the MPM self-motion into consideration due to its redundancy, the dynamics control in task space is implemented by employing a model-based control scheme. Simulation results illustrate not only the well performance of the control algorithm, but also the validation of the established dynamic model as well. The presented research provides a sound base for the development of a new potential competitor in extensive applications where both high accuracy and large workspace are required in case of an autonomous guidance vehicle, service and personal robots, underwater robots, and space robots, etc.