A multi-channel Thomson parabola spectrometer was designed and employed to diagnose ion beams driven by intense laser pulses. Angular-resolved energy spectra for different ion species can be measured in a single shot. It contains parallel dipole magnets and wedged electrodes to fit ion dispersion of different charge-to-mass ratios. The diameter and separation of the entrance pinhole channels were designed properly to provide sufficient resolution and avoid overlapping of dispersed ion beams. To obtain a precise energy spectral resolving, three-dimensional distributions of the electric and magnetic fields were simulated. Experimental measurement of energy-dependent angular distributions of target normal sheath accelerated protons and deuterons was demonstrated. This novel compact design provides a comprehensive characterization for ion beams.