Geometric errors of machine tools affect the quality of machined parts. In order to obtain high accuracy in the machining of parts, machined errors of a machined part should be estimated before actual machining. This paper describes a tool swept volume generation method for multi-axis machining with machine tool errors to derive a shape of a machined part and its machined errors. In this paper, the tool swept volume generation method based on the tangency condition and form shaping theory is proposed. To demonstrate the validity of the proposed method, case studies for 5-axis machining with the errors are also presented.