CFRP (Carbon Fiber Reinforced Plastic) has higher specific strength, modulus of elasticity and so on. CFRP is remarkably applied for structural parts in the aviation and automobile industries and so on. Drill-out of CFRP which is one of the most important cutting techniques is currently carried out in the many industrial factories. In this research, we tried to make high accuracy drill holes by helical milling on the CFRP plates. By using the helical method with each cemented-carbide end mill cutter, high quality holes on the CFRP plates are obtained without burrs, chippings, and so on. Up-cut helical milling method is suitable for drill of laminated material because of tool trajectory on the helical motion.