<p>Error models are the basis for machine tool precision design and error compensation. In this paper, a new general, intuitive, and rapid method for machine tool error modelling is presented. The method contains three main steps: (1) according to the machine coordinate system, write the geometric error source vector defined in each coordinate system; (2) write the ideal position coordinate vector of the origin of the error source definition coordinate system, pointing to the end reference point; (3) according to the error transfer criterion, write the error transfer matrix from the error source vector to the end reference point, and superimpose the spatial position errors caused by all error sources to obtain the geometric error model of the machine tool. The error transmission criteria are as follows. The position error is transmitted to the end reference point in equal quantities, and the angle error affects the corresponding direction error of the spatial reference point in the form of the product of the error value and transmission distance. The positive and negative spatial errors caused by each direction can be easily obtained, according to the error definition and right-hand rule. Three types of multi-axis machine tools are used as examples to detail the specific modelling process and verify the universality, intuitiveness, and reliability of the proposed method.</p>