This paper proposes a DH parameter generation method based on the different configurations of general modular robots. Modular robots consist of component modules, and robots with different kinematics can be constructed depending on how the modules are connected. Factors that influence the building of modular robots of various forms are presented. A method of classifying kinematically different cases by grouping robots with different forms but same kinematics is proposed. In the robotics field, DH parameters are usually used to express the kinematics. This report presents ‘partial DH parameters’ that follow the DH protocol with regard to the spatial relationship between two axes, which is the minimum expression needed to express various kinematic conditions. Furthermore, the generation of DH parameters through partial DH coupling is explained.