In order to implement efficient and speedy chamfering tooth crest for spiral bevel gear, a chamfering method is proposed by using conical grinding wheel. Solid models of spiral bevel gear and grinding wheel were established, and spatial kinematics transformation relationship between gear and conical grinding wheel was calculated based on the principle of maximal cutting depth along the direction which is perpendicular to the face cone element on axial section of gear by using analytic method of solid contact. Machining simulation of chamfering was implemented based on the spatial kinematics relationship. Simulation result shows that grinding wheel can efficiently cut two sides of tooth crest simultaneously on general five-axis machining center. A method of quantitative measurement is proposed to evaluate machining effect of chamfering, some measurement locations are chosen on the machining simulation model, and measurement effects of chamfering are compared with theoretical model. Optimal cone angle of grinding wheel is determined by comparing error values.