In order to efficiently solve the dynamic characteristics of the working space of multiaxis machine tools, a rapid finite element modeling method was proposed.In this method, the substructure of the machine was meshed and preprocessed according to the joints modeling scheme,then the connection characteristics of the joints between substructures were characterized by the springdamping element. Finally, the position and pose of each substructure in the machine were adjusted by the local coordinate transformation, so as to complete the parametric finite element modeling of the whole machine tool.A parametric finite element model of a fiveaxis moving beam gantry vertical turning and milling compound machine tool was established by using the proposed method. The model could be used to quickly predict the dynamic characteristics of the machine tool under different positions in the whole working space by single finite element pretreatment. The distribution of the first 5 order natural frequencies and the frequency response function of the tool tip in the 0~150 Hz frequency band in the whole working space were estimated.It provides mechanical basis for the dynamic modification of the structure of the machine tool and the optimization of machining parameters.