Hybrid　serial-parallel　kinematic　machine　tool　(HSPKMT)　has　been　regarded　as　a　promising　solution　for　5-axis　machining　in　many　industrial　fields.　A　typical　HSPKMT　can　be　constructed　by　integrating　a　parallel　functional　module　with　a　serial　functional　module.　Following　this　way,　the　authors　construct　a　novel　5-axis　HSPKMT　through　the　integration　of　an　over　constrained　redundantly　actuated　parallel　module　with　a　stack-up　serial　gantry.　The　proposed　HSPKMT　can　accomplish　a　5-axis　motion　capacity　with　three　translations　and　two　rotations　(3T2R).　A　hierarchical　design　method　is　proposed　to　facilitate　the　design　issues　of　the　5-axis　HSPKMT.　According　to　the　hierarchical　method,　a　laboratory　prototype　is　designed　with　a　top-down　strategy　and　then　fabricated　with　a　bottom-up　strategy.　An　open-architecture　computer　numerical　control　(CNC)　system　is　developed　to　drive　the　fabricated　prototype.　A　kinematic　analysis　is　carried　out　to　reveal　necessary　kinematic　properties　of　the　proposed　HSPKMT.　The　reachable　workspace　and　task　workspace　are　defined　to　graphically　illustrate　the　machine＇s　position-orientation　capabilities.　A　workspace　performance　index　is　formulated　to　compare　the　proposed　5-axis　HSPKMT　with　several　5-axis　machine　tools.　Based　the　kinematic　analysis,　a　5-axis　machining　methodology　is　developed　and　further　applied　to　the　laboratory　prototype　to　perform　5-axis　machining　tasks.　The　machining　tests　verify　that　the　proposed　novel　HSPKMT　possesses　desirable　5-axis　machining　capability　with　the　tolerance　rang　of　±0.05　mm.　This　also　implies　that　the　proposed　hierarchical　design　method　as　well　as　the　5-axis　machining　methodology　can　be　further　applied　to　other　types　of　HSPKMTs　with　minor　modifications.　©　2020　Elsevier　Ltd