According to the machining problems for zirconia ceramics dental prosthesis which were exposed, such as complex process, difficult to control shrinkage and so on, a new method which used ultrasonic vibration assisted grinding presintered zirconia ceramics was proposed. Firstly, the macro kinematic characteristic is investigated from theoretical analysis. Then, an experimental study on machining presintered zirconia ceramics with ultrasonic vibration assisted grinding and diamond grinding is conducted to analysis the feasibility for the new method. Effects of spindle speed on material removal rate, surface roughness and edge chipping size are obtained, according to the machining characteristics of dental prosthesis. The experiment results demonstrate that the assistant for ultrasonic vibration not only increases the material removal rate, but also reduces the surface roughness and restrains the edge chipping effectively. Therefore, ultrasonic vibration assisted grinding might be the high efficiency and low-damage method for presintered zirconia ceramics.