While five-axis machining for the freeform surface, deviation is easily produced between the cutter contacting (CC) points and the given linear CC path because of the two rotation coordinates participating in the linear interpolation process, and the nonlinear error of the CC path is simultaneously formed. In order to effectively reduce the error, a nonlinear error compensation and correction method based on the ideal CC path was proposed. By analyzing the mechanism of the nonlinear error of CC path caused by the cutter’s attitude being changed, the machine tool kinematics transformation model and the model of the CC path nonlinear error were established respectively. The CC point was obtained firstly according to the current interpolation cutter center point. Secondly, the foot point coordinate and the spatial distance between the CC point and the CC path were calculated. The third step was to determine the compensation distance and direction of the nonlinear error respectively. After the position of the tool center point being real-time corrected, the servo control of the five feed axes would be carried out. The simulation results showed that the method can effectively reduce the nonlinear error of the CC path and had practical value for improving the control accuracy of the CC point trajectory during five-axis linear interpolation.