In this study, we constructed the mechatronic model of a tool center point (TCP-MM) present in the virtual environment. Since the dynamic behavior of a TCP affects the productivity, geometric accuracy, and surface quality of machining parts, a TCP-MM can evaluate the dynamic behaviors of the motion trajectory. The TCP-MM of machine tools consists of the servo feed drive model inside the servo loop and the machine tool structure model with the TCP outside the servo loop. Firstly, we developed TCP position measurement equipment that collects the relative displacement between the tool and the workpiece. Subsequently, the frequency response of the actual machine tool is measured by servo excitation for each axis, and the frequency response function is obtained using position detectors including a motor encoder, linear scale, and TCP device. Finally, the TCP-MM is estimated by the system identification method. The effectiveness of the TCP-MM is verified for a specified path, and the dynamic behavior of the TCP at four quadrantal points of a circular path is observed upon acceleration and deceleration in the motion trajectory. The results of an experiment and a simulation indicate that the TCP-MM can predict the TCP condition during the feed motion via the toolpath.