During cutting, machine tools are influenced by different heat sources, which induces machine thermal deformation, deviation and thermal error. In different machine errors, thermal error accounts for 40%~70% of total machine errors, which is the main influence factor of machining accuracy. In order to reduce machine thermal error and improve machining precision, there are mainly 3 ways at present: 1) Improving machine thermal stiffness by optimal design of machine structure; 2) Separating heat sources from machine tools; 3) Thermal error compensation, which reduces the influence of thermal distortions by predicting and compensating measures. In order to compensate thermal errors, thermal error modeling is the premise and foundation. Therefore, thermal error modeling technology is introduced in this paper firstly, and its recent development both at home and abroad is analyzed. The main obstacles in thermal error modeling field at present are summerized, and the future of the technology are presented.