An useful generation algorithm of five-axis NC tool-path was proposed, which contained the following steps: first, the cutter-location driver points were marked out based on the shape of point cloud; second, the instantaneous process area was obtained based on the dynamic index of point cloud data; third, the corresponding cutter location point of each point in the instantaneous process area was obtained and then the cutter location point which has the highest position in the axis direction as the current cutter location point was selected; forth, the limit error was verified according to the adjacent cutter location points, and the precision of tool-path was controlled by the binary interpolation; ultimately, the NC tool-path was generated which met the accuracy requirements. Examples demonstrated that the algorithm can be used for many kinds of tools and can generate the high-quality five-axis NC tool-path for complex data model of unorganized point cloud.