To provide a chamfering machine, easily chamfering a work without damaging the work even in the case where an angle of intersection of the moving direction of a contact and a ridge line of chamfering (the pressure angle of a gear) is small, not requiring replacement of the contact even if the work changes, little causing abrasion of the contact, and having high durability.

A holding and rotary moving device holding a work and driving it in rotation, a contact parallel to a rotating shaft of the holding and rotary moving device and provided at a fixed distance from a rotating shaft where a pulse generator is mounted, and a rotary tool fitted with a cutter provided at a fixed distance from a rotating shaft parallel to the rotating shaft of the holding and rotary moving device and driven in rotation by a pulse driving motor are provided on the bed. Torque is applied to the rotating shaft fitted with the contact, so that the contact is moved in rotation to come into contact with the work. The work is rotated to move the contact along the work, and the rotating shaft is also rocked. The pulse driving motor for driving the rotating shaft on which the rotary tool is mounted is driven by a pulse generated from the pulse generator provided on the rotating shaft.