A method for identifying pitch error and yaw error of a numerically-controlled (NC) machine tool, including: acquiring a Cartesian coordinate system of a target machine tool; setting each axis of the Cartesian coordinate system as movement axis, where each movement axis has three measurement trajectories, and the three measurement trajectories are mutually parallel to the corresponding axis, and not on the same plane; selecting an axis as the movement axis; and obtaining positioning error data between an actual operation measurement point and an ideal operation measurement point of the target machine tool when the target machine tool moves along the three measurement trajectories corresponding to the movement axis; and according to spatial angle geometric relationship and the positioning error data, obtaining a pitch error angle and a yaw error angle of the target machine tool.