Abstract: The rotational tool center point (RTCP) error of five axis machine tools can greatly affect the accuracy of machining parts. Studying the RTCP error detection and compensation methods of five axis machine tools is of great significance for improving the accuracy of five axis machine tools. In order to effectively balance the accuracy, economy, and measurement efficiency of existing RTCP error detection and compensation methods, an RTCP detection method based on a self-developed device is proposed, which could quickly, simply, and efficiently compensate for the position and angle errors of the five axis linkage machine tool’s rotation center. The experimental results showed that this method significantly improved the RTCP accuracy of each direction of the machine tool, with a maximum of nearly 90%, and had strong applicability.