In micro-grinding, the depth of cut is smaller than the grain size of workpiece material. Since the micro-grinding wheel cuts through the grain boundaries, the crystallographic effects become more significant in the micro-grinding than that in macro-machining. To quantify the effect of crystallographic orientation on the flow stress of polycrystalline material, the Taylor factor model is developed by examining the number and type of the activated slip systems. Then, the shear force model is developed based on the flow stress model considering the effect of crystallographic orientation. Moreover, the plowing force is predicted based on the Vickers hardness of workpiece material and the plowing friction coefficient. A comprehensive model is then proposed to predict micro-grinding force by consolidating the mechanical, thermal, crystallographic, and size effect. Micro-grinding experiments adopting Taguchi’s method were conducted to verify the model, and the results indicated that the predictions agree well with the experimental data. Besides, single-factorial experiments were conducted with the only variable being Taylor factor and the results suggest that the Taylor factor model is capable of capturing the effect of crystallographic orientation on grinding force.