In order to provide theory basis and experimental evidence for optimizing milling parameters, the cutting force prediction models for milling of Ti6Al4V with uncoated cemented carbide tool were built based on single factor method. The significances of the cutting force prediction models were checked. The effects of milling speed, feed per tooth, milling depth and milling width on cutting forces were also studied. The results show that the built prediction models can be applied effectively to predict the cutting forces in milling of Ti6Al4V in the experiment parameters range. Milling depth has highly obvious influence on cutting forces among these milling parameters. The cutting forces decrease with the milling speed increasing, and increase with feed per tooth, milling depth and milling width.