The invention discloses an NURBS (Non-Uniform Rational B-Splines)-curved surface description-based five-axis linkage 3D printing method which comprises the following calculating steps: 1, obtaining a basic surface curved surface equation of the bottom of a workpiece; 2, planning a printing route; 3, determining coordinates of all points on a curved surface; 4, determining coordinates of the top end of a printing head; and 5, determining rotational coordinates. According to the NURBS-curved surface description-based five-axis linkage 3D printing method provided by the invention, a curved surface function can be directly generated based on the curved surface of an object, and curved surface printing data are generated with a five-axis linkage 3D printer based on the curved surface function; one curved surface is printed for each layer; and the NURBS-curved surface description-based five-axis linkage 3D printing method is applicable to printing of complicated curved surfaces and objects of which printed parts having non-planar bottoms.