In the process of plunge cylindrical grinding, it is difficult to directly measure the contact stiffness between the grinding wheel and the workpiece. In order to solve this problem, a simplified method for qualitatively determining the contact stiffness between the grinding wheel and the workpiece is proposed, and the grinding parameters are optimized. Based on the dynamic model of plunge cylindrical grinding process, the transfer function of grinding process is deduced, and the mathematical model of the time constant and contact stiffness is established. A simplified method for qualitative determination of grinding contact stiffness is proposed. Further, multiple tests are conducted by controlling the wheel feed speed and the workpiece speed. According to the experimental results, the variation of the system time constant and the grinding force with the grinding parameters are analyzed. The relationship model between the contact stiffness and the grinding parameters is established by regression analysis, and the optimal values of the wheel feed speed and the workpiece speed in the specific grinding process are determined under the condition of meeting the machining requirements.