Virtual prototyping is a strategic practice in the research and development of innovative products and machine tools. Virtual prototyping allows the integration of multidomain simulations into the designing process to replicate and analyze the impact of design choices on the overall system performance, reducing time-to-market while simultaneously improving quality. The current paper provided a methodological approach to model complex machine tools and perform virtual testing. As a use case for this study, a parallel kinematic machine (Pentapod P800, METROM Mechatronische Maschinen GmbH, Germany) is investigated. The adoption of these complex machine tools within the industrial context and the design of parallel kinematic machines can be eased by the implementation of methodologies capable of reducing efforts and risks during the analysis and the testing phases, prior to actual commissioning. In this scenario, virtual testing guarantees generality, completeness, and quick response. Therefore, the multibody model of the Pentapod P800 was developed following the proposed framework. Then, the simulation of a test trajectory was successfully carried out. The results show that this approach might lead to the design and implementation of a parallel kinematics machine reducing risks, time, and costs.