diff --git a/Marlin/planner.h b/Marlin/planner.h
index 57160748d..3ede113c2 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -349,8 +349,8 @@ class Planner {
 
       FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
         if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
-          const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))),
-                      sy = cy - (cz * yz_skew_factor);
+          const float sx = cx - cy * xy_skew_factor - cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
+                      sy = cy - cz * yz_skew_factor;
           if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
             cx = sx; cy = sy;
           }
@@ -359,7 +359,7 @@ class Planner {
 
       FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
         if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
-          const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor,
+          const float sx = cx + cy * xy_skew_factor + cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
                       sy = cy + cz * yz_skew_factor;
           if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
             cx = sx; cy = sy;