The goal is to study the influence of abrasive water jet (AWJ) machining parameters (jet pressure, traverse speed and scan step) on the cutting depth of 3D woven Carbon Fibres Reinforced Polymer (CFRP) composite. The original material linked to this non-conventional milling process has not been treated yet. The depths of cut were measured and characterized as a function of the machining parameters. Finally, two prediction models for the cutting depth are proposed and validated experimentally. An increase in cutting depth with the pressure and a decrease as the traverse speed and/or the scan step increase were observed. The first prediction model, based on the pocket depth measurements, has a mean error of 5%. However, the error increases (up to 23%) when the pocket becomes shallow (lesser than 1 mm). The second prediction model, based on the algebraic sum of elementary passes modelled with Gaussian bells, shows at first a mean error of 12%. A correction was performed depending on the erosion regime piloted by the depth of the elementary trench constitutive of the pocket. This enhancement, performed thanks to the primary jet diameters measurements with high speed camera, has improved the second model with a mean error of 5% (error < 16%).