Master sintering curve (MSC), in which the sintered density is a unique function of the integral of a temperature function over time, is insensitive to the heating path. In this paper, the densification of rutile TiO2 was continuously recorded at heating rates of 2 °C/min and 5 °C/min, respectively, by dilatometer. The MSC for rutile TiO2 was constructed for pressureless sintering using constant heating rate date based on the combined-stage sintering model. The construction and application of the MSC were described in detail for different thermal histories. The MSC can be used to predict and control the densification, final density, and microstructure evolution during the whole sintering. The final density can be predicted for an arbitrary temperature–time path. A good consistence exists between the predicted and experimental densification curve, confirming that it is possible to accurately predict and control the sintering behavior of TiO2 from the initial to final stage of sintering using MSC.