Carbon-fiber-reinforced polymer (CFRP) composites are widely used across industries due to their enhanced strength and stiffness properties. Fused deposition modeling (FDM) enables the cost-effective production of polymer samples, such as carbon-fiber-reinforced PLA (CFR-PLA). However, CFRP’s hardness and anisotropic nature present significant challenges in conventional machining, including rapid tool wear and thermal sensitivity. Consequently, abrasive water jet machining (AWJM) has proven to be an effective alternative for machining CFRP materials, offering benefits such as reduced tool wear, minimized thermal damage, and improved cutting quality. This study focuses on a comparative analysis of the effects of AWJM parameters on PLA and CFR-PLA samples, specifically to evaluate the influence of carbon fiber reinforcement on machining performance. The findings highlight the critical role of reinforcements in machining behavior. The results suggest that optimizing cutting parameters significantly reduces taper formation and improves machining accuracy. In particular, adjustments to process parameters resulted in lower taper angles and reduced surface roughness in the cutting zones of the CFR-PLA samples.