The invention relates to a five-axis linkage series-parallel machine tool and belongs to the technical field of machine tools. The five-axis linkage series-parallel machine tool comprises a rack, a movable platform, a first branch, a second branch, a third branch and a two-freedom-degree rotating head; the first branch and the second branch are symmetrically arranged and are of the same structure, and the first branch and the second branch are each composed of a connection frame and a linear driving unit which are sequentially connected from the rack to the movable platform; the third branch is composed of a third branch connection block and a third branch linear driving unit which are sequentially connected from the rack to the movable platform; and the two-freedom-degree rotating head is driven by two servo motors to achieve mutual perpendicular rotation of two axes. Compared with an existing five-axis linkage machine tool, the geometric assembly relations of all the kinematic pair axes of the five-axis linkage series-parallel machine tool are simple, the manufacturing processes of all parts are simple, the work space is large, and rigidity is high; and the five-axis linkage series-parallel machine tool can be manufactured or used in the industrial sector, the instrument industry and other industries, is applicable to machining of high-precision and complicated curved faces, can generate an obvious economic effect and has good application prospects.