The invention discloses a numerically-controlled three-screw whirling milling machine tool. The machine tool comprises a machine tool bed body (1), rails (2) are arranged on the two sides of the surface of the machine tool bed body (1), slide carriages (3) are arranged on the rails (2), a screw rod (4) is arranged below the rail on one side of the machine tool bed body (1), the screw rod (4) is inthreaded fit with the slide carriage (3), and the screw rod (4) is driven by a longitudinal motor (5) positioned at the end part of the machine tool bed body (1), the slide carriage (3) is provided with a whirling milling main shaft part (6), the whirling milling main shaft part (6) is provided with a machine tool main shaft (7), and the end part of the machine tool main shaft (7) is provided with a workpiece chuck (8). The machine tool belongs to customized equipment, in order to machine a spiral groove on the surface of a drill rod, a main shaft of the machine tool is specially positioned on the right side of the machine tool, swirling milling cutters are arranged on the periphery of a workpiece, the workpiece performs both rotary motion and linear motion, the spiral groove is machinedby using the milling cutters, the spiral groove is provided with an arc surface, so that requirements of customers are completely met.