This study examined the impact of vibration-assisted drilling (VAD) on hole quality and residual stress in Ti-6Al-4V ELI (Extra Low Interstitials) material. Ti-6Al-4V ELI possesses excellent mechanical properties but presents challenges in machining, including chip evacuation, burr formation, and elevated cutting temperatures. VAD, particularly low-frequency vibration-assisted drilling (LF-VAD), has been explored as a potential solution to address these issues. The research compares LF-VAD with conventional drilling (CD) under various cutting and cooling conditions. LF-VAD exhibits higher maximum thrust forces under specific conditions, which result in accelerated tool wear. However, it also demonstrates lower RMS (root mean square) forces compared to CD, offering better control over chip formation, reduced burr formation, and improved surface roughness within the hole. Furthermore, LF-VAD generates greater compressive residual stresses on the hole’s inner surface compared to CD, suggesting enhanced fatigue performance. These findings indicate that LF-VAD holds promise for improving the hole’s surface characteristics, fatigue life, and overall component durability in Ti-6Al-4V machining applications.