In this study, parallelism errors between the spindle axis and the linear axis of machine tools were measured using a double ball-bar. Specifically, two circular tests were performed to measure the parallelism errors using tool balls with different tool lengths and a workpiece ball fixed to a workpiece table. Parallelism errors were calculated by analyzing, simultaneously, the measured double ball-bar (DBB) data from the circular tests. The proposed method provides accurate measurements due to a large offset between the circular tests within the working space of machine tools. Additionally, the approach only requires a DBB and adjustment/extension fixtures; thus, it simplifies measurements and is cost-effective.