PURPOSE: To provide a grinding method, a grinding tool and a grinding device which are conformable to works of various forms and enhanced in working efficiency.

CONSTITUTION: A grinding method for rotating a work and bringing the work into contact with a grinding bar to grind the work consists of an ultrasonic vibration grinding method for adding an ultrasonic torsional vibration to the grinding bar. An ultrasonic vibration grinding tool has an ultrasonic torsional vibrator 11 for generating the ultrasonic torsional vibration, the grinding bar 13 having a spherical grinding top end part, and a vibration transmitting means 12 for transmitting the ultrasonic torsional vibration to the grinding stone 13. Further, an ultrasonic vibration grinding device has the grinding tool, a driving oscillating device 17 for supplying a high frequency drive signal to the ultrasonic torsional vibrator 11, and a moving means for changing the contact position of the grinding bar with the work.