To eliminate differences in surface quality and improve the machining flexibility of micro-structured surfaces, this paper proposes a novel ultra-precision diamond sculpturing method based on a triaxial fast tool servo (FTS). In this method, the diamond tool is directly driven by the FTS rather than the ultra-precision lathe to fabricate the micro-structure surfaces. The corresponding toolpath generation algorithm is established to take full advantage of the triaxial FTS. The toolpath is first generated through traditional calculating the shortest tool edge projection on the desired surface and the curve interpolation. The overshoot around the path corner is predicted by simulating the tracking path. Then an extended path is added to the original toolpath to stabilize the overshoot before removing the material. The simulation indicates that the hexagonal lens array can be favorably fabricated by the proposed ultra-precision diamond sculpturing method, and the developed toolpath reduces the form error from 20 to 5nm. The sculpturing experiments of sinusoidal micro-structure array and micro-lens array surfaces suggest that their actual peak-to-valley (PV) form errors are 70nm and 50nm, respectively. The single lens with the surface roughness Sa 3.44nm can be precisely fabricated in 0.1s, demonstrating the high machining efficiency and high machining quality of the proposed ultra-precision diamond sculpturing method.