In this paper, a generic rule induction framework based on trajectory series analysis is proposed to learn the event rules. First the trajectories acquired by a tracking system are mapped into a set of primitive events that represent some basic motion patterns of moving object. Then a minimum description length (MDL) principle based grammar induction algorithm is adopted to infer the meaningful rules from the primitive event series. Compared with previous grammar rule based work on event recognition where the rules are all defined manually, our work aims to learn the event rules automatically. Experiments in a traffic crossroad have demonstrated the effectiveness of our methods. Shown in the experimental results, most of the grammar rules obtained by our algorithm are consistent with the actual traffic events in the crossroad. Furthermore the traffic lights rule in the crossroad can also be leaned correctly with the help of eliminating the irrelevant trajectories.