This article presents an efficient tool path generation method for five-axis machining of a difficult machined centrifugal impeller. Geometry of centrifugal impeller is analyzed, and the inherent low efficiency of the machining of difficult machined centrifugal impeller is obtained. The tool path curves which are calculated by the most common isoparametric method are shown to testify the waste in machining. The new type machining layers are calculated, and the new machining regions are achieved. The new tool path curves in each new machining region are calculated, and they are sparser and triangular. For the inherent low machining efficiency of difficult machined centrifugal impeller, the machining time can be greatly reduced just by the optimizing tool path generation method in this article. Numerical simulation and a real test impeller are presented as the test of the proposed method.