Abstract: Milling cutters are widely used in the processing of components in various fields such as aviation, shipping, and healthcare. However, tool wear directly affects the machining quality and processing efficiency of the workpiece. A wear error compensation method with adaptive shooting angle was proposed. The problem that it is difficult to accurately measure the amount of tool wear during end mill machining has been solved. The influence of the shooting angle on different shape wear areas is analyzed. Then, the mapping model between the tool wear amount and the shooting angle combining with tool structure parameters were built. The methods can realize the automatic compensation of the detection error for tool wear caused by different shooting angles. The experimental results from different shooting angles show that the wear detection accuracy is greater than 95%, which verifies the feasibility of the self-compensation method for the wear detection error. The research methods and ideas in this paper provide references for the high-precision and intelligent tool wear detection.