The orthogonal experimental design was conducted for linear friction welding of Ti-6Al-4V titanium alloy (TC4). The friction power and joint temperature were collected during the welding process. The influence of process parameters on the axial shortening was analyzed. The suitable process parameters were determined by investigating the joint appearance, the requirement of axial shortening and welding variables during welding. The results provide important reference for establishing process parameters of linear friction welding in practice.