A method for motion control and analysis of five-axis milling machine was proposed by means of simulation. The method started from solid modeling of five-axis milling machine in PRO/E, and then imported the model into ADAMS, generating its own solid model, through seamless interface software Mechanism/Pro 2005. Therefore, co-simulation of PRO/E and ADAMS was realized. On the platform of ADAMS, constraints and drivers necessary for simulation was added to the solid model and the simulation was begun. During the simulation process, motion parameters of each head were produced, and these information directly provided a control basis for NC machining of five-axis milling machine. Thus, the performance study of five-axis milling machine through simulation was realized on the computer and it provided an effective method for the engineering design of the machine.