This paper deals with the dynamic parameter identification of a 3DOF parallel manipulator with actuation redundancy. A method for finding the parameter linear form of the dynamic equation is presented. Based on the virtual work principle, the dynamic equation for the application of dynamic parameter identification is obtained by extracting the dynamic parameters from inertial forces and moments of moving parts. Two-step identification approach is used to identify the dynamic parameters of the redundantly actuated parallel manipulator. The approach consists of two steps and utilizes simple point-to-point motions that lead to a separation of friction and rigid-body dynamics. The identified results are validated by experiments. Moreover, the experimental application of the identified model to a machine tool, which is created by combining the parallel manipulator with a 2DOF worktable, demonstrates the efficiency of dynamic parameter identification.