In this paper, PID consensus control problem of a multi-agent rigid body system is studied. To this end, exponential coordinates associated with the Lie group SE(3) are used to represent the 6-DOF motion of the rigid bodies. Specifically, the control objective is to stabilize the relative pose configurations with synchronization of the velocities and integral feedback terms of the rigid bodies. 6-DOF exponential coordinates can be viewed as embedded subset of R6, allowing us to design and analyze the methods such as PID control method that are suited to the Euclidean spaces. It is shown that the consensus is achieved under the presence of unmodelled external torques and forces.