Abstract: Ultrasonic vibration assisted grinding and conventional grinding without ultrasonic vibration were conducted on GCr15 bearing steel, and then the grinding surface residual stresses were measured. The effects of ultrasonic vibration as well as grinding depth (5-30 μm) and linear speed of grinding wheel (2-12 m·s^-1) on the surface residual stress were studied. The results show that the residual compressive stresses were generated on the surfaces grinded by the two methods. The surface residual compressive stress obtained by the ultrasonic vibration assisted grinding was relatively high. With increasing feed depth or decreasing linear speed of grinding wheel, the surface residual compressive stresses by the two methods both generally increased. With increasing linear speed of grinding wheel, the difference value between the surface residual compressive stresses with and without ultrasonic vibration was reduced, indicating that the improvement effect of the ultrasonic vibration on the surface residual compressive stress was weakened.