Mesh denoising is a method to remove noise applying various filters. However, those methods usually spend much time since filtering is performed on CPU. Because GPU is specialized for floating point operations and faster than CPU, real-time processing for complex operations is possible. Especially mesh denoising is adequate for GPU parallel processing since it repeats the same operations for vertices or triangles. In this paper, we propose mesh denoising algorithm based on bilateral filtering using GPU parallel processing to reduce processing time. It finds neighbor triangles of each vertex for applying bilateral filter, and computes its normal vector. Then it performs bilateral filtering to estimate new vertex position and to update its normal vector.