The error motion of a machine tool spindle directly affects the surface errors of machined parts. Spindle motion errors such as three translational motions and two rotational motions are undesirable. These are usually due to the imperfectness of bearings, stiffness of spindle, assembly errors, and external force or unbalance of rotors. The error motions of the spindle need to be reduced for achieving the desired performance. Therefore, the level of error motion needs to be estimated during the design and assembly process of the spindle. In this study, an estimation method for five degree-of-freedom (5 DOF) error motions for a spindle with an angular contact ball bearing is suggested. To estimate the error motions of the spindle, the waviness of the inner-race of bearings and an external force model were used as input data. The estimation model considers the geometric relationship and force equilibrium of the five DOFs. To calculate the error motions of the spindle, not only the imperfections of the shaft and bearings but also driving elements such as belt pulley and direct driving motor systems are considered.