The surface roughness of the machined parts is the most important parameter to predict the performance of mechanical components. Moreover, predicting the optimal machining parameters conditions is the preferable method for cost reduction and achieving the desired surface quality of the product. This study investigates three cutting parameters, such as depth of cut, spindle speed, and feed for the milling aluminium alloy AA6061, to predict the surface roughness quality. The experimental work utilized a manual milling machine with a coated carbide cutter. Furthermore, the experiments were arranged using the Taguchi L9 orthogonal array (OA) method. The average surface roughness (Ra) was measured and converted to signal-to-noise (S/N) ratio and then analyzed in the statistical method of analysis of variance (ANOVA). Finally, the optimal combination set speed, feed, and depth of cut was 2400 rpm, 30 mm/min, and 0.5 mm, respectively. Also, according to the ANOVA test, the most influential parameter was the spindle speed among the selected parameters, with the highest P value of (66.42%). In comparison, the lowest P value is a depth of cut (5.34%). Furthermore, spindle speed was the only significant factor statistically. By selecting a high spindle speed (2400 rpm), surface quality was enhanced, but the preferable level was low for depth of cut and feed.