As gears that have been honed offer excellent wear characteristics and are extremely quiet, gear honing has become an essential part in the production of high-speed transmissions. In this paper, a novel gear honing technology based on toothskipped gearing theory is proposed. So far, this theory has been used only in the gear dynamic integrated error measuring machine, which was invented by a Chinese engineer. It is the first time that the theory has been introduced into gear manufacturing. Firstly, the whole tooth-skipped honing process is analyzed by taking the rack and pinion as an example. Secondly, the kinematics model of relationship between the rack and the gear is established, which takes the rack addendum meshing process, the gear addendum meshing process and the involute meshing process into consideration. Finally, the boundary points of each process are analyzed. The velocity curve of the gear to be manufactured is obtained. Tooth-skipped gear honing as a gear fine finishing approach has high processing efficiency and can increase the gear quality.