Context : Aims : Emission from the 6.7 GHz methanol maser transition is very strong , is relatively stable , has small internal motions , and is observed toward numerous massive star-forming regions in the Galaxy . Our goal is to perform high-precision astrometry using this maser transition to obtain accurate distances to their host regions . Methods : Eight strong masers were observed during five epochs of VLBI observations with the European VLBI Network between 2006 June , and 2008 March . Results : We report trigonometric parallaxes for five star-forming regions , with accuracies as good as \sim 22 ~ { } \mathrm { \mu } as . Distances to these sources are 2.57 ^ { +0.34 } _ { -0.27 } kpc for ON 1 , 0.776 ^ { +0.104 } _ { -0.083 } kpc for L 1206 , 0.929 ^ { +0.034 } _ { -0.033 } kpc for L 1287 , 2.38 ^ { +0.13 } _ { -0.12 } kpc for NGC 281-W , and 1.59 ^ { +0.07 } _ { -0.06 } kpc for S 255 . The distances and proper motions yield the full space motions of the star-forming regions hosting the masers , and we find that these regions lag circular rotation on average by \sim 17 km s ^ { -1 } , a value comparable to those found recently by similar studies . Conclusions :