A drift error nonlinear compensation algorithm for Fiber Optic Gyro (FOG) is presented based on T-S fuzzy model with the antecedent parameters identified by G-K clustering algorithm and the error model of T-S fuzzy model with the consequent parameters identified by least square algorithm. The computed results show that this model can compensate the original data effectively, while the error principles of FOG do not need to be understood well. Comparing with the original data, compensation with linear fitting and compensation with neural network, the absolute error of the proposed model reduces by 99%, 96% and 10%, respectively. The error variance reduces by 99%, 98% and 20%, respectively. The results indicate that this proposed algorithm can be simply operated with high precision and easy to realize in engineering.