Parallel mechanisms offer benefits like high stiffness, strong load capacity, excellent dynamic performance, and error averaging between branches, making them popular in robotics and machine tools. In contrast, serial coordinate measuring machines, such as portable versions, suffer from error accumulation. Due to the advantages of parallel mechanisms, parallel coordinate measuring machines have rapidly advanced over the past twenty years. Current research covers their mechanisms, kinematics, dynamics, mechanical performance, and control strategies. Key issues in current research are identified, with proposed solutions and ideas. Future development trends in this field are also discussed.