The double-disc straight-groove (DDSG) grinding method is a new precision machining method for the rolling surface of bearing cylindrical rollers by using a flat grinding disc and a straight-groove grinding disc as machining tools. The machining principle of bearing cylindrical rollers based on the DDSG grinding method is experimentally investigated in this study. A circulating grinding platform has been constructed. The grinding test of the cylindrical rollers was performed with W40 white corundum abrasive. Under the experimental conditions of the grinding disc rotation speed of 7.5 rpm, the machining load of 110 N, and the eccentricity of the straight groove of 6 mm, 2000 cylindrical rollers (AISI 52100) were synchronously ground by the DDSG grinding method. The average diameter, surface roughness, and roundness of the ground rollers were investigated. Experimental results show that the material removal rate of the rollers is uniform. After 270 grinding cycles, the average diameter decreased from 5.99082 to 5.94135 mm, with an average material removal rate of 0.183 microns per cycle. The average roundness of ground cylinders reduced from 9.64 to 2.78 μm. The diameter variation decreased significantly from 14.5 to 6.0 μm. The average roughness reduced from 0.258 to 0.137 μm, and the fluctuation range of the roughness decreased from 0.143 to 0.033 μm. Experimental results demonstrate that the DDSG grinding method can improve the bearing cylindrical rollers’ dimensional consistency, roundness, and surface quality.