The surface roughness is one of the most important parameters which determines the functional properties and quality of machined parts. For that reason, the aim of this study is to investigate the effect of machining parameters on the surface roughness for milling of biocompatible titanium alloy Ti6Al4V. In addition, optimization of cutting parameters was performed in order to achieve minimum surface roughness. The Taguchi method was used to find optimal values and analyze the effect of cutting parameters on the surface roughness. Three machining parameters, namely cutting speed, feed rate and depth of cut were observed in this paper. The analysis of the results reveal that the cutting speed has the biggest effect on the surface roughness for milling of biocompatible titanium alloy Ti6Al4V. Finally, a linear relationship between the observed cutting parameters and the surface roughness was determined.