In order to reduce the tracking error of the computer numerical control (CNC) feed system and improve the CNC machining accuracy, a novel prediction model is proposed based on fuzzy C-means robust variational echo state network. Firstly, the feed speed time series is clustered, and then reconstructed for different categories. The multi-stage robust prediction models are established to realize the multi-state robust prediction of the CNC machining feed velocity to reduce the tracking error of the feed system. Finally, the reference and actual time series with different feed speed are used to verify the established models. The results show that the proposed method can reduce the tracking error and realize the effective prediction of the time series of the feed system.