In order to promote the inheritance and development of Yao embroidery in Jinxiu and make traditional Yao embroidery better integrate into modern life and meet the needs of modern function and aesthetics, the work aims to discuss the inheritance and innovation of intangible cultural heritage and modern design from the perspective of design and provide new ideas and strategies for the protection and development of intangible cultural heritage Yao embroidery. Through literature analysis and field investigation, the Jinxiu Yao embroidery pattern was combed and analyzed. With the help of shape grammar, the pattern primitive was extracted and classified. Based on Mosaic geometry, 2D parametric derivation was carried out. Combined with NURBS surface, 3D parametric model was generated to realize the transformation from 2D to 3D parameterization. The parametric design path of Jinxiu Yao embroidery pattern was constructed, and the new mode of inheriting and innovating the intangible cultural heritage Yao embroidery was elaborated. Under the digital development background of intangible cultural heritage, the technological progress provides more possibilities for the inheritance and development of traditional handicrafts. The combination of traditional Yao embroidery patterns and parametric design on the one hand condones the connotation of design and promotes the sustainable development of Yao embroidery culture on the other hand, and provides a reasonable reference for the inheritance and innovation of Yao embroidery in modern society, which is of great value to the protection and inheritance of national culture.