A collision detection algorithm of three-dimensional objects has been proposed. It reduces the number of surfaces which have possibility of collision, and then detects collisions of the surfaces. The process of surface collision detection takes much time in the whole collision detection process. This papaer describes a parallel collision detection algorithm by using a distributed memory PC Cluster. Especially, surface collision detection is parallelized. A master node sends surface pairs to all client nodes. Our experiments show the efficiency of parallel processing.