Non-traditional machining of carbon fiber-reinforced plastics, such as laser machining, has great advantages over mechanical machining in the aspect of machinability and flexibility. In this article, a laser milling method using diode pumped and frequency doubled Nd:YVO₄ nanosecond pulsed laser system is presented. The effects of processing parameters including laser power, scanning speed, and hatch distance were analyzed. It was found that machining quality and efficiency are seriously influenced by laser power and pulses overlapping rate. The features of micro-pit and chopped fibers on the machined surface were observed with metallographic microscope, and ablation mechanism involved was studied to explain the phenomenon. Depth-controlled milling strategy was realized in the laser focusing environment. Finally, challenges and suggestions are presented for wide application of the method.