<p>Non-uniform rational B-spline (NURBS) is a common toolpath for machining complex parts, and its feedrate scheduling directly affects the machining efficiency of computer numerical control (CNC) machine tools. To improve the machining efficiency of the NURBS toolpath, this study proposes an adaptive feedrate scheduling method. The proposed method comprises two parts: offline feedrate scheduling and online toolpath interpolation. First, the allowable feedrate is determined based on geometric and normal drivability constraints, and the NURBS toolpath is segmented into sub-curves. Second, according to the tangential drivability constraints, the allowable feedrate is updated and S-shaped feedrate rules are adopted to generate the initial feedrate profile. For any sub-curves, if the initially obtained feedrate profile exceeds the allowable feedrate, the sub-curve parameters are dynamically adjusted and transition intervals are generated. Next, a bidirectional scanning is performed to obtain the feedrate profile for the transition intervals, thereby generating a complete feedrate profile. Then, to obtain the accurate interpolation points of the NURBS toolpath during the online interpolation process, the second-order Runge–Kutta interpolation method is modified based on the feedrate profile. Finally, simulations and experiments are performed to verify the effectiveness and advantages of the proposed method. The proposed method shows a significant superiority compared to the current method that uses constant velocity transitions in large curvature intervals. In two different NURBS toolpath cases, the machine efficiency is improved by 46.73% and 22.33%, respectively.</p>