We report the design and construction of an ultrahigh vacuum compatible cryogenic manipulator for angle-resolved photoemission spectroscopy. This design allows six-axis motions in order to measure the band dispersion and Fermi surface of novel electronic materials. Three translational and polar angular motions are implemented by commercial stages. The azimuthal angle of the crystal can be rotated by up to ±90°, and the range of tilt motion varies from 95° to –10°. The sample position is designed at the centre of the above rotation goniometers. The sample holder is cooled using a continuous-flow cryostat. With liquid helium and nitrogen used for the cryostat, the temperature performance of the sample holder is tested and discussed.