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In view of the problem complex structure and large volume of high-DOF dexterous hand， a compact， light-weight， direct-drive 8-DOF three-finger dexterous hand is designed. Through the use of micro motor and gear reducer， the joint drive mode is realized， the driving loss is reduced， and the driving force of finger is effectively improved. Aiming at the shortcomings of dexterous hand in dynamic grasping mode， the dynamic grasping algorithm of dexterous hand is studied through the fusion of embedded ultrasonic sensor， pressure sensor and angle sensor. A three-finger dexterous hand prototype is made by 3D printing， and the grasping experiment is carried out. Experiments show that the designed dexterous hand has a strong grasping ability， and through the multi-sensor fusion control algorithm， the dexterous hand can achieve accurate， safe and stable grasping of moving objects.