The machinability in turning mode of three lead-free brass alloys, CuZn42 (CW510L), CuZn38As (CW511L) and CuZn36 (C27450) was evaluated in comparison with a reference free-cutting leaded brass CuZn39Pb3 (CW614N), as far as the quality characteristics, i.e., cutting force and surface roughness, were concerned. A design of experiments (DOE) technique, according to the Taguchi L 16 orthogonal array (OA) methodology, as well as analysis of variance (ANOVA) were employed in order to identify the critical-to-machinability parameters and to obtain their optimum values for high-performance machining. The experimental design consisted of four factors (cutting speed, depth of cut, feed rate and alloy) with four levels for each factor using the "smaller-the-better" criterion for quality characteristics' optimization. The data means and signal-to-noise (S/N) responses indicated that the depth of cut and the feed rate were the most influential factors for the cutting force and surface roughness, respectively. The optimized machining parameters for cutting force (34.59 N) and surface roughness (1.22 µm) minimization were determined. Confirmation experiments (cutting force: 39.37 N and surface roughness: 1.71 µm) seem to show that they are in close agreement to the main conclusions, thereby validating the findings of the statistical evaluation performed.