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The connection characteristics of HSK tool holder-spindle system have great influences on machining precision and security of computer numerical control machine tools. In order to predict dynamic behaviors and avoid connection failure of HSK tool holder-spindle system, a nominal radial stiffness prediction model for HSK tool holder-spindle flange interface is constructed. Contact stress of spindle and HSK tool holder can be obtained by considering actual interference and actual clamping force. Considering elastic contact deformation, the plastic contact deformation, and two different regimes of elastoplastic contact deformation, a fractal model of nominal contact stiffness of HSK tool holder-spindle flange interface is proposed. In order to prove the rationality of the model, the tests are validated by a self-designed equipment. The effects of different parameters to the maximal permissible rotational speed, critical bending moment, and nominal radial stiffness of HSK tool holder-spindle connection system are researched. The results can be used as an instruction for the application of HSK tool holder and optimization of geometry parameters.