Dynamic parameters are the intermediate information of the entirety of machine dynamics. The differences between components have not been combined with the structural vibration in the cutting process, so it is difficult to directly represent the dynamic characteristics of the whole machine related to spatial position. This paper presents a method to identify sensitive parts according to the dynamic stiffness-sensitivity algorithm, which represents the dynamic characteristics of the whole machine tool. In this study, two experiments were carried out, the simulation verification experiment (dynamic experiment with variable stiffness) and modal analysis experiment (vibration test of five-axis gantry milling machine). The key modes of sensitive parts obtained by this method can represent the position-related dynamic characteristics of the whole machine. The characteristic obtained is that the inherent properties of machine-tool structure are independent of excitation. The method proposed in this paper can accurately represent the dynamic characteristics of the whole machine tool.