The transmission relationship of velocities and accelerations between the input parameter and end orientation of manipulator is one key task in design and control process of 3-PRS parallel robot, but the analytic expression is rather complex. The velocity kinematics analytic expression of 3-PRS parallel robot was gotten through directly using the method of differentiating with respect to time. Aiming at complexity problem of derivation, the analytic expression of matrixes in the expression of transmission relationship of velocities and accelerations between input and output was gotten directly using the symbolic derivation function provided in MATLAB. The final numerical solution was gotten by replacing all the variables with actual values by using replacing function. The detailed calculation program was presented, and the feasibility of the method and the effectiveness of the program were verified through computing examples finally. The result shows that using the symbolic derivation computation functions of MATLAB can facilitate study on velocity kinematics of 3-PRS parallel robot using analytic and numerical method.