A palletization method in which rectangular parallelepiped parcels are received in bulk, but in a same layer, in an accumulation tub from a parcel intake conveyor, the parcels being lifted one by one from the accumulation tub and moved onto an adjacent palette, wherein - the three dimensions of each parcel arriving in the accumulation tub are calculated; - the position and angular orientation of each parcel are monitored at all times from the time it enters the accumulation tub relative to the longitudinal axis (X-X) of the palette; - at each moment, a next parcel to be moved is selected from among the parcels currently in the accumulation tub based on its dimensions and the remaining available space at a current palletization level; - the exact location to be provided on the palette is determined for the selected parcel; - the selected parcel is lifted and placed using a rotating gripping head of a handling robot, the method [including] the following operations: - at each moment, the position and the angular orientation of each parcel are monitored from the moment it enters the accumulation tub relative to the longitudinal axis (X-X) of the palette; - immediately before lifting the selected parcel, the angle formed by the parcel with respect to the longitudinal or transverse axis of the palette is determined, and the rotation angle necessary for said gripping head is calculated to allow it to place the selected parcel on the palette parallel to the longitudinal or transverse axis thereof, - after having lifted the selected parcel, said gripping head is rotated by the calculated rotation angle, immediately before placing the selected parcel on the palette and the selected parcel is deposited in the provided location on the palette while arranging it parallel to the longitudinal or transverse axis of the palette and, to the extent possible, while substantially aligning one of the sides of the parcel on one of the sides of the palette. - the three dimensions of each parcel arriving in the accumulation tub are calculated; - the position and angular orientation of each parcel are monitored at all times from the time it enters the accumulation tub relative to the longitudinal axis (X-X) of the palette; - at each moment, a next parcel to be moved is selected from among the parcels currently in the accumulation tub based on its dimensions and the remaining available space at a current palletization level; - the exact location to be provided on the palette is determined for the selected parcel; - the selected parcel is lifted and placed using a rotating gripping head of a handling robot, - at each moment, the position and the angular orientation of each parcel are monitored from the moment it enters the accumulation tub relative to the longitudinal axis (X-X) of the palette; - immediately before lifting the selected parcel, the angle formed by the parcel with respect to the longitudinal or transverse axis of the palette is determined, and the rotation angle necessary for said gripping head is calculated to allow it to place the selected parcel on the palette parallel to the longitudinal or transverse axis thereof, - after having lifted the selected parcel, said gripping head is rotated by the calculated rotation angle, immediately before placing the selected parcel on the palette and the selected parcel is deposited in the provided location on the palette while arranging it parallel to the longitudinal or transverse axis of the palette and, to the extent possible, while substantially aligning one of the sides of the parcel on one of the sides of the palette.