Abstract: Geometric error measurement is a key link to evaluate the geometric accuracy of machine tools. The existing geometric error measurement methods have different degrees of shortcomings in measurement efficiency and measurement space. Therefore, a rapid error measurement method of machine tool based on laser tracker is proposed. Firstly, the alignment of the machine tool coordinate system and the tracker coordinate system was realized by measuring the coordinates of four positions that were not coplanar in the machine tool workspace. Secondly, by measuring the coordinates of several positions in the stroke of the linear axis of the machine tool, the three position errors of each linear axis of the machine tool and the perpendicularity error between each linear axis were calculated. Thirdly, by measuring the position coordinates of several points on the diagonal of the machine tool working space, the machine tool space error was measured. Finally, a comparison experiment is carried out between a horizontal machining center with XM60 multi-beam laser interferometer, and the results show that the error curves measured by the two instruments have high similarity. This method provides a new method and a new idea for machine tool error measurement.