This paper presents an optimization method to determine the shoulder height of an angular contact ball bearing by 3D contact analysis using nondimensional-shaped variables. The load analysis of the ball bearing is performed to calculate the internal load distributions and contact angles of each rolling element. From the results of bearing load analysis and the contact geometry between the ball and inner/outer raceway, 3D contact analyses using influence function are conducted. The nondimensional shoulder height and nondimensional load are defined to give the generalized results. The relationship between the shoulder height and radius of curvature of the shoulder under various loading conditions is investigated in order to propose a design method for the two design parameters. Using nondimensional parameters, the critical shoulder heights are optimized with loads, contact angles, and conformity ratios. We also develop contour maps of the critical shoulder height as functions of internal loads and contact angles for the different contact angles using nondimensional parameters. The results show that the dimensionless shoulder height increased as the contact angle and dimensionless load increased. Conversely, when the conformity ratio increased, the critical shoulder height decreased. Therefore, if the contact angle is reduced and the conformity ratio is increased within the allowable range, it will be an efficient design to reduce the shoulder height of ball bearings.