In order to explore the influence of different grinding head and grinding parameters on the grinding characteristics of sapphire glass, an experimental study on ultrasonic vibration assisted grinding was designed and carried out considering the effects of four factors: grinding head parameters, spindle speed, feed rate, and grinding depth. In the experiment, the influence of the above factors on the surface roughness, surface morphology, and grinding force of sapphire glass grinding was studied. The experimental results show that under ultrasonic and non-ultrasonic grinding conditions, the grinding force and surface roughness shows an overall trend of first increasing and then decreasing with increase of the particle size number of the grinding head. Under the selected grinding head particle size, the grinding force and surface roughness of ultrasonic grinding are generally smaller than those of non-ultrasonic grinding, the maximum reduction of grinding force is 27.2%, and the maximum reduction of surface roughness is approximately 18.6%. The grinding using 200/230# grinding head obtained a relatively smaller grinding force and surface roughness. The 200/230# grinding head is the best grain size under the research condition while the 140/170# is the worst. Compared with non-ultrasonic grinding, ultrasonic grinding can reduce the grinding force and surface roughness at the selected spindle speed, feed rate, and grinding depth. Moreover, ultrasonic grinding can better improve the surface quality of sapphire glass at a small spindle speed and grinding depth.