A market-based task allocation mechanism has been widely used in multi-robot coordination. However, most of approaches consider a bid as either quality or cost, or a combination of the two. This paper proposes a preference-based task allocation framework for coordination of multiple robots. To provide preference in task allocation, four bid elements are defined: task quality, task cost, task distance and task time. Tasks can be allocated considering the relative importance of the bid elements based on the preference. The utility of a robot is calculated using the bid elements and their weighted preference. The effectiveness of the proposed framework was demonstrated through the computer simulation of a cleaning mission.