Cutting force is an important factor that affects the surface quality of machining carbon fiber-reinforced polymer (CFRP). High cutting force can lead to surface damage such as the burrs and the delamination in the machining process of CFRP. Ultrasonic vibration-assisted machining (UVAM) can reduce the cutting force in the machining process. This work is focused on the relationship between the duty cycle and the cutting force in UVAM of CFRP. Based on the kinematics of UVAM, the movement of the cutting tool edge and the tool–workpiece separation in UVAM were analyzed, and a calculation formula for the duty cycle was obtained. The milling experiment of CFRP was conducted to compare the cutting force between UVAM and conventional machining (CM), and the relationship between the reduction in the cutting force in UVAM and the duty cycle was determined. The experimental results showed that when the duty cycle was 0.2916, the cutting force of UVAM was reduced by 7.4% to 27% compared with that of CM. When the duty cycle was 1, the cutting force of UVAM was reduced by −4.5% to 7.5% compared with that of CM. Therefore, the effect of reducing the cutting force of UVAM can be enhanced by adjusting the process parameters to reduce the duty cycle of UVAM, and a lower cutting force can be obtained.