Abstract: In response to the serious impact of ship roll and pitch motions on the stability of shipborne high-precision operations in deep-sea environments, as well as the limitations of existing six-degree-of-freedom (6-DOF) compensation mechanisms, such as structural complexity, high cost, and degree-of-freedom redundancy, this paper develops a redundantly actuated two-degree-of-freedom (2-DOF) parallel wave compensation platform consisting of four electric cylinders and a central universal joint. First, a parallel mechanism configuration constrained by the central universal joint is designed, achieving efficient ship attitude leveling through the synergistic actuation of the four electric cylinders. Second, targeting the time delay issue inherent in the active control system, a linear regression time-delay compensation control strategy based on the least squares principle is proposed to resolve the contradiction in cooperative control of high-frequency acceleration and low-frequency displacement. Finally, an experimental system based on a 6-DOF shaking table is established to verify the performance of the platform. The experimental results show that the proposed strategy significantly reduces the time delay of the compensation system. Under a 3°, 0.2 Hz sinusoidal excitation and simulated sea state 5 disturbances, the residual attitude motion rates of the platform are only 6.0% and 2.8%, respectively. This study verifies the compensation accuracy and engineering practicability of the developed platform and control algorithms under dynamic sea conditions.