Carbon fiber reinforced plastics (CFRP) have good physical properties, such as high specific strength and high specific modulus. However, cutting delamination, tearing and burr, etc. often occur in the machining process of CFRP, which results in the uncontrollability of machining surface quality and serious tool wear. In this paper, milling of CFRP with a staggered cutter was carried out, the cutting-edge radius was investigated in order to characterize the tool wear; the effect of the cutting-edge wear radius on the milling force and surface quality was found, and the formation mechanisms of the 3D surface topography and surface defects were analyzed under the wear state. Experimental results showed that the wear of the staggered PCD cutter was mainly concentrated in the cutting-edge area. With the increase in milling length, the radius of cutting edge gradually became largeer under the action of abrasive wear mechanism, and the flank wear was not obvious. With the intension of tool wear, milling force gradually increased and the machining surface quality of the CFRP deteriorated distinctly, i.e., defects such as bare fiber fracture, groove and hole appeared, and burrs were gradually generated on the workpiece surface. Finally, through a comparative analysis of cutting performance, it was found that the staggered PCD cutter possessed better performance for wear resistance and burr suppression than the straight-teeth cutter. This finding can provide theoretical and technical support for improving the machining quality of carbon fiber composite materials.