In order to measure the axis perpendicularities, axis intersections, and alignment errors of five-axis simulator, the measuring principle of vertical axis′s perpendicularity vs. horizontal plane and the way of leading to rotation axis line with a theodolite and crosshair targets or filaments was introduced, in which the vertical axis system cannot rotate in full circle. Based on the measurement of the plumb errors of yaw axis lines of the three-axis simulators and the two-axis simulator, then an elementary coordinate system fixed on the theodolite was established by adjusting the pose of theodolite. By fixing crosshair targets A and B on the two ends of pitch axis of three-axis simulator, C and D on roll axis of 3-axis simulator, E and F on pitch axis of two-axis simulator, these three axis lines were led to by theodolite and crosshair targets. Then S₃ and S₂ filaments were mounted on the ends of two yaw axes of 3-axis and 2-axis turntables′, and two points on these two yaw axis lines were also led to by two theodolites. Finally the perpendicularities, axis intersections and alignment errors are achieved by the leading axis lines or points on the axis lines. Accordingly, the measurement error analysis is conducted and the validation of this method is achieved.