The changes of three-dimensional (3D) laser cutting head′s orientation directly affect the cutting efficiency, security and stability of machine tool. A kinematic model of 3D laser cutting machine is established, and optional values are analyzed when geometric information of cutter location points on the cutting trajectory is transformed to space coordinates of five axes. Based on the friction between moving parts and the quality and the inertia of rotation axis, this paper establishes an energy model of the rotational motion of B, C-rotation axis between adjacent cutter location points. The optimization goal is the lowest total energy consumption of rotational motion of B, C-rotation axis on the complete cutting ring, then a minimum energy consumption path can be found by Dijkstra algorithm. Through example calculation, this method can avoid the momentary swing of B, C-rotation axis and enhance the movement smoothness of laser cutting head.