High-end CNC machine tools are key equipment supporting machining of the parts in aviation, aerospace and energy engineering fields. At present, China has been able to design and manufacture various types of high-end machine tools, but there are still performance gap compared with foreign advanced products. A major gap is the dynamic error at high speed. Dynamic error is defined as the deviation from the effector end position to the setpoints position, which is urther divided into the dynamic error inner servo-loop and dynamic error outer servo-loop. By measuring and separating dynamic error of a domestic machine tool, the forms of the two components of the dynamic error can be presented. On this basis, special analysis on the causes of all kinds of the forms of the dynamic errors are conducted. In addition, the critical technologies of dynamic error at home and abroad are summarized. Finally, the research directions that needs focus in China around dynamic error are proposed.