This paper addresses the dynamic simulation and control of structural vibrations of a 3-PRR parallel manipulator with three flexible intermediate links, to which are bonded lead zirconate titanate (PZT) actuators and sensors. Flexible intermediate links are modelled as Euler–Bernoulli beams with pinned-pinned boundary conditions. A PZT actuator controller is designed based on strain rate feedback (SRF) control. Control moments from PZT actuators are transformed to force vectors in modal space and are incorporated in the dynamic model of the manipulator. The dynamic equations are developed based on the assumed mode method for the flexible parallel manipulator with multiple PZT actuator and sensor patches. Numerical simulation is performed and the results indicate that the proposed active vibration control strategy is effective. Spectral analyses of structural vibrations further illustrate that deformations from structural vibration of flexible links are suppressed to a significant extent when the proposed vibration control strategy is employed, while the deflections caused by inertial and coupling forces are not reduced.