The kinematic performance of the CNC machine tool plays an important role on surface processing quality and contour accuracy of the workpiece in high-speed CNC machining. This paper proposes a kinematic performance prediction method to investigate the dynamic indicators of the CNC machine tool. The feed rate is taken as main researched object. By the control mode of flexible acceleration and deceleration, the equation of state is established considering the constraints of machine tool parameters and the segment connection velocity. The preloading follow-up constraint status is used to simplify the solving for state variable and decision variable of the dynamic programming. The feed rate curves and jerk curves are presented to identify the constraint parameters and constraint axes. The experiment of the specimen cutting is implemented to verify the feasibility of this method. 