A novel 6-DOF magnetic levitation (maglev) system is proposed in this paper. In this system, both new and adaptive control algorithm are developed. Three objectives we attempt to achieve simultaneously include large moving range, accurate positioning, and fast response. Structurally, totally there are six permanent magnet (PMs) attached on the carrier, while six coils mounted on a fixed part. By analyzing the magnetic force characteristics between permanent magnets and coils, the general model of this system with full DOFs is therefore derived and analyzed. Then, due to the naturally unstable behavior and uncertainties of the maglev systems, an adaptive controller is proposed to guarantee the stabilities of all DOFs both in regulation and tracking. From the experimental results, satisfactory good performances including stiffness and precision have been demonstrated.