Compared with rasterization rendering, ray tracing rendering can improve the image's visual effect and make the image look more realistic. Real-time ray tracing requires very high computing power of graphics processing unit (GPU). When the number of GPUs is limited and the performance of a single GPU cannot be fully utilized, high rendering latency will occur. In this paper, we propose Multi-Queue Concurrent Pipeline Rendering (MQCPR), a novel ray-tracing parallel rendering scheme based on GPU multi-queue. This scheme divides the image area into multiple parts and uses multi-queue of GPU to enable the computation and transmission tasks in the rendering process to be executed simultaneously, which can maximize the performance of a single GPU and improve the graphics rendering speed. MQCPR may keep the GPU busy to make full use of the GPU resources. Experiments illustrate that in the case of a single GPU, compared with the single queue serial rendering scheme, the number of frames per second (FPS) is increased by 1.5 times after using MQCPR.