For the problems such as fiber burrs and ablation in the processing of aramid fiber reinforced composites （AFRP）， a laser-milling combined processing method was proposed to conduct experimental research on AFRP. The parameters of AFRP laser-milling combined processing were optimized. The results show that compared with the milling processing， the temperature of laser-milling combined processing is lower， the milling force and the burr factor are smaller， the milling force fluctuation is smaller， the milling is more stable. The optimal laser processing parameters of AFRP laser-milling are as follows： laser power P=20 W， scanning speed v=3 mm/s， pulse width L_f=60 ns， repetition frequency f=50 kHz. The optimal milling process parameters are as follows： spindle speed n=2 000 r/min， feed speed v_f=105 mm/min， cutting depth a_p =0.5 mm.