In the present study, CFRP/Ti6Al4V stacks were machined with abrasive water jet using different process parameters in order evaluate the viability of AWJ industrial application as a substitute of conventional drilling. The effect of the stack configuration, the traverse feed rate, the cutting tool (combination of orifice and focusing tube diameter and abrasive mass flow rate), and the pressure over the kerf profile, taper angle, and surface roughness has been analyzed through an ANOVA analysis and related to the physical parameters of the AWJ process. As a result, a positive taper angle is observed in Ti6Al4V while a negative is observed in CFRP in almost all cutting conditions. This leads to obtain an X-type or barrel-type kerf profile depending on the stack configuration. In addition, the surface roughness can be as low as 6.5 μm in both CFRP and Ti6Al4V materials at 95 mm/min when CFRP/Ti6Al4V configuration is used.