We perform fully resolved direct numerical simulations of an isolated particle subjected to free-stream turbulence in order to investigate the effect of turbulence on the drag and lift forces at the level of a single particle, following Bagchi and Balachandar’s work (Bagchi and Balachandar in Phys Fluids 15:3496–3513, 2003). The particle Reynolds numbers based on the mean relative particle velocity and the particle diameter are Re = 100, 250 and 350, which covers three different regimes of wake evolution in a uniform flow: steady axisymmetric wake, steady planar symmetric wake, and unsteady planar symmetric vortex shedding. At each particle Reynolds number, the turbulent intensity is 5–10% of the mean relative particle velocity, and the corresponding diameter of the particle is comparable to or larger than the Kolmogorov scale. The simulation results show that standard drag values determined from uniform flow simulations can accurately predict the drag force if the turbulence intensity is sufficiently weak (5% or less compared to the mean relative velocity). However, it is shown that for finite-sized particles, flow non-uniformity, which is usually neglected in the case of the small particles, can play an important role in determining the forces as the relative turbulence intensity becomes large. The influence of flow non-uniformity on drag force could be qualitatively similar to the Faxen correction. In addition, finite-sized particles at sufficient Reynolds number are inherently subjected to stochastic forces arising from their self-induced vortex shedding in addition to lift force arising from the local ambient flow properties (vorticity and strain rate). The effect of rotational and strain rate of the ambient turbulence seen by the particle on the lift force is explored based on the conditional averaging using the generalized representation of the quasi-steady force proposed by Bagchi and Balachandar (J Fluid Mech 481:105–148, 2003). From the present study, it is shown that at Re = 100, the lift force is mainly influenced by the surrounding turbulence, but at Re = 250 and 350, the lift force is affected by the wake structure as well as the surrounding turbulence. Thus, for a finite-sized particle of sufficient Reynolds number supporting self-induced vortex shedding, the lift force will not be completely correlated with the ambient flow. Therefore, it appears that in order to reliably predict the motion of a finite-sized particle in turbulence, it is important to incorporate both a deterministic component and a stochastic component in the force model. The best deterministic contribution is given by the conditional average. The influence of ambient turbulence at the scale of the particle, which are not accounted for in the deterministic contribution, can be considered in stochastic manner. In the modeling of lift force, additional stochastic contribution arising from self-induced vortex shedding must also be included.