We have investigated the de Haas-van Alphen effect in the Pr-based heavy fermion superconductor PrOs$_4$Sb$_{12}$.The topology of Fermi surface is close to the reference compound LaOs$_4$Sb$_{12}$ and well explained by the band structure calculation based on the FLAPW-LDA+U method, where the 4{it f} electrons are localized. We have confirmed a highly enhanced cyclotron effective mass 2.4$sim7.6m_{rm 0}$ which is apparently large compared to the usual Pr-based compounds.