A fast-adaptive color-collaborative signal constellation (CCSC) is proposed for chromaticity-changeable multicolor multiple-input multiple-output (MIMO) visible light communications (VLC) systems. The design of CCSC aims at developing the constellation to minimize the average optical power with shaping-based lattice code. For multicolor VLC signals, we arrive at the fact that the optimum shape of the constellation bounding region is an inequilateral N-D simplex. With the densest lattice-packing structure, detailed design steps of CCSC are fully elaborated by lattice construction, effective point selection, and chromaticity adjustment. As CCSC has a low complexity, its constellation structure can adapt quickly to changeable chromaticity demands. Simulation results show that the performance of CCSC is better than enhanced standard color shift keying (CSK) and is close to iterative CSK modulation based on numerical search.