Sensitivity and spatial resolution of positron emission tomography (PET) scanners can be improved by using thicker scintillation crystals with depth-of-interaction (DOI) encoding. Subsurface laser engraving (SSLE) can be used to segment crystals of a scintillation detector in order to fabricate a DOI detector. We previously applied SSLE to crystal bars of 3 × 3 × 20 mm3 and 1.5 × 1.5 × 20 mm3 and developed two dual-ended detectors with DOI segments of 3 mm and 1.5 mm, respectively. To further improve the DOI resolution, our SSLE detector design can be used with smaller pitch crystal bars, making them excellent detector candidates for small animal PET scanners with submillimetre resolution. In the present study, three small crystal bars of 1 × 1 × 20 mm3, 2 × 1 × 20 mm3, and 2 × 1 × 40 mm3 were laser engraved to 12, 20 and 40 segments, respectively, by applying SSLE in their height directions. The segmented crystal bars were characterised in three prototype detector arrangements. First, the 1 × 1 × 20 mm3 crystal bars were characterised in an 8 × 8 crystal array designed for DOI encoding along crystal height in a conventional small animal PET design. Second, a 4 × 8 crystal array of 2 × 1 × 20 mm3 crystal bars was characterised for using the DOI information for crystal interaction positioning along the axial axis of a small animal PET scanner. Finally, the third part of the study was performed on a single 2 × 1 × 40 mm3 crystal bar with 40 segments to investigate the feasibility of DOI estimation in longer crystals for application in a system with extended axial length. We evaluated the capability of segment identification and energy resolution of theses detectors. The 3D position maps of the detectors were obtained using the Anger-type calculation and the crystal identification performance was evaluated for each detector. Clear segment separation was obtained for the crystal arrays with 12 (segment pitch of 1.67 mm) and 20 (segment pitch of 1 mm) segments. Mean energy resolutions of 8.8% ± 0.4% and 9.6% ± 0.8% at 511 keV were obtained for the segments in the central regions of the 8 × 8 array with 12 segments and the 4 × 8 array with 20 segments, respectively. Clear segment identification was found to be difficult for the detector with 40 segments, especially for the segments at the middle of the crystal. Energy and interaction positioning characterisation results suggest that both prototype detectors with 12 and 20 segments are well suited for small animal PET scanners with high spatial resolution.