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Subject to the influence of waves, vessels inevitably experience complex motions such as heaving, rolling and pitching, which increases the difficulty of offshore operations. In this study, a novel Motion Compensation Device (MCD) based on a 3SPS-RPS-PS parallel mechanism is proposed to ensure the safety and stability of offshore operations. The device can compensate for wave-induced vessel heaving, rolling and pitching motions by controlling the motion of three vertically aligned hydraulic cylinders. Fundamental experiments were conducted by simulating the wave-induced vessel motions using the Stewart platform, and the results showed that the compensation efficiency can reach 90% in the case of unidirectional motions and 83% in the case of coupled motion in three directions. The proposed MCD presents good compensation efficiency, showing the potential value in improving the stability of offshore operations.