<p>In the machining of complex surfaces, the machining quality and efficiency can be improved by selecting the tool parameters of the double-arc milling cutter reasonably. However, most of the current tool path generation algorithms are suitable for traditional tools, and there is still no mature algorithm specifically designed for non-ball-end milling cutters. A tool path generation algorithm for three-axis machining freeform surface using double-arc milling cutter is proposed. Based on the geometric properties of the workpiece design surface and the tool rotation surface, the cutting contact point trajectory and the cutter location point trajectory are provided. The workpiece design surface is divided into a bottom spherical cutting contact zone and a torus surface cutting contact zone. The selection method of the path interval and feed direction are discussed. Experimental results show that compared with existing programming software, the proposed tool path generation algorithm can improve machining accuracy. This algorithm has adaptability and flexibility due to its applicability to workpieces with different shapes and double-arc milling cutters with different tool parameters. In summary, the proposed tool path generation algorithm provides strong support for the application of double-arc milling cutter in the machining of complex surfaces.</p>