Walnut (Juglans regia L.) is widely used in wood furnishings, and machinability is a key factor for improving product quality and enterprise benefits. This work focused on the influence of the rake angle, depth of cut, and cutting speed on the cutting force and machined surface roughness during the straight-tooth milling of walnut. On the basis of the experimental findings, a mathematical model was created using a response surface methodology to determine the relationship between the cutting force and the cutting conditions, as well as the relationship between the surface roughness and the cutting conditions. Variance analysis was used to study the significant contributions of the interactions of various factors and two-level interactions to the cutting force and surface roughness. The optimized combination of milling conditions, resulting in lowest cutting force and surface roughness, was determined to be a rake angle of 5°, a depth of cut of 0.6 mm, and a cutting speed of 45 m/s.