Delamination in composite laminates is one of the most common and critical defects, it would significantly reduce the stiffness and strength of components. This paper aims at reducing the drilling-induced delamination to improve hole quality. First, drilling tests are carried out to examine the distribution and amplitude of thrust force on drill under different cutting conditions. Empirical thrust force models are developed using experimental data. Then, analytical models of critical thrust force (CTF) are separately established considering two drilling states, considering the actual interactions between the drill and laminate. Anisotropy of composite, tool geometry and load distribution on drill are considered. Comparisons with experimental data and existing models show that the proposed models are capable of predicting CTFs under different loading conditions. In addition, the critical feed rates at different ply locations are determined. This study can provide guidance for the selection of cutting parameters to reduce drilling-induced delamination.