This paper presents an efficient approach to collision detection for real time controlled humanoid robot. The proposed method is based on separating axis theorem (SAT) for oriented bounded box (OBB). We construct tight-fitting OBB based on 3D-CAD model of the humanoid robot and OBB trees for efficient computing. In addition, in order to solve several potential problems when detecting collisions at discrete time steps, we define a velocity sphere and operate Minkowski sum of the OBB and its velocity sphere. The collision detection algorithm is applied to real humanoid robot, DRC-HUBO+ and many experimental results demonstrate the feasibility of the proposed approach.