An approach to microwave frequency measurement with a high resolution and a broad bandwidth is proposed based on three parallel low-speed photonic analog-to-digital converters (ADCs) architecture. Through simultaneously bandpass sampling the input microwave signal with the three photonic ADCs, the input frequency can be calculated from the Fourier frequencies of the photonic ADCs using the proposed frequency recovery algorithm. Theoretical analysis and simulation results indicate that the proposed method is applicable for both single-tone and multi-tone microwave signals. By employing three ~1 GS/s@8 bits photonic ADCs, 0-100 GHz frequency measurement with an error of ± 0.5 MHz and a spur-free dynamic range of 94 dB-Hz2/3 over the full band has been numerically demonstrated. Additionally, a proof-of-concept experiment is carried out to demonstrate the effectiveness of the proposed method, where a frequency measurement range of 0-20 GHz with a measurement error of ± 8 kHz is realized by utilizing three photonic ADCs with sampling rates of 27.690 MS/s, 27.710 MS/s, and 27.730 MS/s. Larger frequency measurement range can be achieved by using an optical modulator with a larger bandwidth.