In milling pocket corner, there maybe residual material left at sharp corners when stepover is extremely large in contour-parallel toolpath. This paper describes an improved pocket toolpath by inserting biarc transitions segments in contour-parallel toolpath. When reaching the sharp corner, the cutter moves along the biarc transitions toolpath so that the corner material is removed. The efficient toolpath is continuous for clearing residual material at sharp corner. Milling test has been conducted to demonstrate and verify the significance of the proposed method.