The invention provides an envelope milling method for an involute cylindrical gear and capable of considering the gear face precision characteristic. The method comprises the steps that S01, a millingtool is selected, and the diameter of the tool and the length of a cutting edge of the tool are determined; S02, the dynamic offset ei of the axis of the tool relative to the axis of the gear is determined; S03, the gear profile direction feed step length formula is set up, a curvilinear equation between the involute gear profile expansion angle and the gear face residual height difference is setup, and the tool location point is calculated; and S04, a feed path is planned. According to the method, on the premise of guaranteeing the gear face machining precision of the involute cylindrical gear, the differential geometric characteristics of the involute gear face are comprehensively considered, the tool location point is calculated out, the tool path is planned, the tool feed track is distributed according to needs, redundant feed of the gear toot and the gear top is reduced, and therefore the envelope gear milling machining efficiency and the engagement performance of the gear faceare improved.