Five-axis ball-end milling is used extensively to machine parts with sculptured surfaces. This paper presents the general cutting dynamics model of the ball-end milling process for machine tools with different five-axis configurations. The structural dynamics of both the tool and workpiece are considered for the prediction of chatter stability at each tool location along the tool path. The effects of tool–workpiece engagement and tool axis orientation are included in the model. By sweeping the spindle speeds, the chatter-free spindle speeds are selected followed by the prediction of forced vibrations in five-axis milling of thin-walled, flexible parts. The proposed model has been experimentally illustrated to predict the chatter stability and forced vibrations on a table-tilting five-axis computer numerical control machine tool.