Collision detection is a key technology of virtual reality, and the speed and precision are very important meaning for collision detection. In this paper, we present a new parallel collision detection algorithm based on symmetry breaking and divide-and-conquer technologies. At first, we incorporate the merits of both AABB bounding box and bounding spheres to construct a hybrid bounding representation of arbitrary non-convex polyhedra (S-AABB) for attaining speed, especially the S-AABB is balanced using divide-and-conquer technologies. Then we apply symmetry breaking - coloring technology which is also important in parallel algorithm in order to reduce different categories, and assign them to different processors; Also multi-thread is used in multi-processor computer. At last, experiments results have shown that our algorithm is advantageous over other current typical collision detection algorithms such as I-COLLIDE [Cohen J. et al., 1995], so can meets the real-time and accurate requirements in complex interactive virtual environment.