We have performed dissipative particle dynamics simulations to study the self-assembly of ABC-type bottlebrush copolymers (BBCPs), one portion of whose backbone is grafted by pairs of A-blocks and the other portion is grafted by B/C-blocks in pairs, focusing on the effects of the number of A side chains, the length of B side chains relative to that of C side chains, and the rigidity of the backbone on the formation of hierarchical structures. A number of hierarchical structures with the superstructures formed by the phase separation between A and B/C-blocks and the substructures formed by the phase separation between B and Cblocks are observed. Some hierarchical structures are similar to those self-assembled by ABC star copolymers, whereas their stable parameter regions of ABC-type BBCPs are much larger. On the other hand, the ABC-type BBCPs can also form some novel hierarchical structures that are hard to form in ABC star copolymers. Though the formation of the A-superstructure and the B-substructure in many hierarchical structures can be independently controlled, there are also some hierarchical structures in which the transitions of the superstructure and substructures are coupled. In other words, the A-superstructure changes along with the transformation of the B-substructure for fixed f A . In addition, our results demonstrate that the rigidity of the backbone has a significant effect on the formation of the hierarchical structure in ABC-type BBCPs, i.e., a rigid backbone favors the normal arrangement of B-substructures to A-superstructures. Our work not only deepens the understanding of the self-assembly mechanism of ABC-type BBCPs but also provides helpful guidance for experiments to fabricate interesting hierarchical structures.