Laser cooling based on velocity-selective coherent population trapping is investigated theoretically. Quasiclassical treatment is used to identify the conditions for optimal cooling and to study the dynamics of the cooling process in detail. For different cooling schemes we give the analytical expressions for the temperature of the cold atoms, which can be much lower than the Doppler cooling limit. The effect of the degree of incompleteness of coherent population trapping on dynamics and the limits of laser cooling are revealed.PACS number(s): 32.80.Pj, 42.50.Vk