This paper proposes a novel comprehensive modeling method for deformation errors of different types of rolling joints in machine tools to improving the analysis efficiency. This method comprehensively considers the deformation of three types of rolling joints, i.e., linear guideway, ball screw and bearing, firstly from the perspective of analytical modeling. Two comprehensive models for deformation errors of all rolling joints in two types of motion systems of machine tools are established respectively with the method. The nonlinear interfacial characteristics at rolling joints and the geometric and stiffness coupling characteristics are considered. In order to study characteristics of the synthetical deformation error of rolling joints, a synthetical error model for a five-axis machine tool is developed. Several results and optimizations of the joints are carried out. The proposed method in this paper can effectively avoid the tedious finite element modeling in the traditional analysis process and improve the efficiency.