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Aiming at the demand of complex surface high speed and high accuracy of CNC machining, the NURBS curve direct interpolators were investigated. A new NURBS curve hybrid interpolation algorithm which was put forward is a combination of FIR filters, second order Taylor algorithm, and interpolator’s error control algorithm. On the basis of achieving high precision, S velocity profile was adopted to smoothly, exactly produce the velocity profile. Two cascade FIR filters were utilized to realize the acceleration and deceleration according to S velocity profile. By canceling the look-ahead algorithm in NURBS curve interpolation algorithm, NURBS curve hybrid interpolation algorithm could also greatly shorten the computing time of NURBS interpolator, increase the frequency of interpolator, and advance the machining feed-rate.