This paper presents an integrated servo-feed-drive model including the cutting force and structural effect to predict tracking errors in an end-milling process. Most conventional approaches consider the cutting force to be an equivalent torque to servo feed drive. However, in addition to acting as the equivalent torque to the servo feed drive, cutting forces also cause the machine table to vibrate. This paper considers the aforementioned cutting-force effects to predict tracking errors and then verifies the tracking errors using experimental results. Experiments are conducted on a 3-axis computer numerical control (CNC) machining center to validate the tracking errors predicted by the proposed servo-feed-drive model. For one case study, the peak-to-peak tracking errors from the experimental, proposed, and traditional models are 3 μm, 2.8 μm, and 0.5 μm, respectively, for the x -axis, and 2.1 μm, 1.7 μm, and 0.4 μm, respectively, for the y -axis. The experimental results illustrate that the tracking errors predicted using the proposed model are more accurate than those predicted using the traditional model without consideration of the transmission path. Therefore, it can be concluded that the proposed integrated model provides much accurate tracking-error prediction, and thus, the ball-screw and machine-table flexibilities should be considered.