A method and apparatus for estimating error in a multi-axis controlled machine is applicable to any type of machine configuration in order to estimate and confirm in advance the final position and the posture of the machine, which are produced when geometric errors of the machine are synthesized. The method includes defining the structure of the multi-axis controlled machine subjected to error estimation; and defining parameters, which represent behaviors of drive axes having geometric error and relationships between the drive axes according to the defined structure of the multi-axis controlled machine, adding the defined parameters by applying the parameters to a generalized error synthesis model, and generating an error synthesis model of the multi-axis controlled machine by applying a result of parametric modeling in response to a result of the adding.