Parallel Kinematic Machines (PKM) demonstrate the capability of adapting to modern, flexible manufacturing systems due to their higher flexibility and improved motion dynamics. Compliance of a machine tool has a significant impact on the performance, which directly contributes to the quality of the machined workpiece. Compliance deformations result in inaccuracies in the geometry of the machined part. Therefore, prediction of compliance deformation helps to determine the geometrical quality. To fill in the knowledge gap, this paper presents a compliance-induced geometrical error prediction method based on a semi-analytical stiffness model.