This paper presents the development of a micromanipulator for micro-scale manipulation tasks such as microassembly and cell injection. The micromanipulator provides four degrees of freedom (DOFs) for dexterous motion. To achieve high resolution, large workspace and compact structure, a hybrid configuration which is a combination of a parallel selectively compliant assembly robot arm (SCARA) configuration and a serial mechanism was proposed. Due to its compact size, the micromanipulator can operate in a microfactory. In kinematic design, a novel method was proposed to select kinematic parameters so that the prescribed workspace can be achieved. To determine a unique set of kinematic parameters, kinematic performance indices were also introduced. Based on the mechanical design, kinematics and dynamics in both forward and inverse cases were derived and verified. Trajectory planning based on modified tension spline (MTS) was performed for tracking of a desired Cartesian path. Digital signal processor (DSP) and field programmable gate array (FPGA) were employed to implement the multi-joint control of the micromanipulator. Experimental results demonstrate the feasibility of the proposed system in micromanipulation.