The effects of gear manufacturing error on the dynamic characteristics of planetary gear transmission system of wind turbine are studied in this paper. Firstly, the static transmission error combined with manufacturing error of the gear is deduced. Then, the nonlinear dynamic model of planetary gear transmission system of wind turbine is set up with the consideration of time-varying mesh stiffness, backlash and manufacturing error. Finally, the statistical characteristics of Vibration displacement response process of each component of planetary gear transmission system are obtained by simulation analysis of the planetary gear system of 1.5MW Semi-direct drive wind turbine with the consideration of the torque fluctuation caused by wind speed. The research results lay a foundation for reliability design and optimizing of gear transmission system of wind turbine.