This paper presents a light-weight software system that enables virtual three-dimensional (3D) surgical planning of hip replacement surgery for extracting 3D surgical parameters such as the position and the orientation of femoral resection plane, the interference-free trajectory of prosthesis implantation, and the final assembled position. According to the specification of an individual patient, the system allows the surgeon to design a hip prosthesis that most closely recovers the original function of the joint. Since it is based upon the 3D anatomy, the system overcomes a geometrical mismatch between prosthesis-bone interfaces which is the main limitation of 2D-based approach. The closely customized prosthesis-bone fit appears to increase the durability of hip prosthesis, and enhances the load distribution and the stability. Detailed steps of the system are described, and typical example is presented to validate the methodology. The result shows that the proposed pilot surgical planning system is applicable.