To provide a machine tool in which accuracy of angle adjustment of a rotary tool with respect to a workpiece is made satisfactory and which can perform contour control machining of the workpiece into an arbitrary shape.

A machine tool 1 includes: a turret 22 having a turning part 72 equipped with a rotary tool T2 at an outer peripheral side thereof; a direct-drive motor 73 rotating the turning part 72 by rotating a rotor 73B fixed to the turning shaft 722; and control means. The control means performs positioning of the rotary tool T2 to an arbitrary position and angle with respect to the workpiece by rotating the turret 22 and rotating the turning part 72 continuously by driving the direct-drive motor 73, and the workpiece is machined by rotating the rotary tool T2.