Kinematic parameter error is the main factor which affects the absolute positioning accuracy of industrial robots. The accuracy of industrial robots can be effectively improved through error calibration. The completeness, continuity and redundancy of the kinematic model have great impacts on the identification accuracy of the kinematic parameters. To improve the accuracy of robot calibration and perform robot error compensation easily, a method of robot kinematic parameter calibration based on ZRM-MDH model transformation was presented. Firstly, the kinematic error model of the serial industrial robot TX60 was established based on the zero reference model (ZRM). The parameters of the ZRM modified OH mudel were identified with the measured pose error. Secondly, the ZRM was transformed into a MDH model through the method of circle point analysis. Totally fifty points were selected in the front workspace of robot TX60 for the kinematic parameter error calibration. The experimental results showed that the average comprehensive positioning error calibrated based on the MDH model was 0.081mm. The average comprehensive positioning error calibrated based on the ZRM-MDH model transformation was 0.062mm. To verify the stability of the calibration method, five areas were selected in the front workspace of robot TX60 for kinematic parameter error calibration. The experimental results showed that the calibration accuracy stability obtained based on ZRM-MDH model transformation was better. Therefore, the kinematics parameter calibration method proposed can effectively improve the accuracy of the robot calibration.