Friction stir welding is an efficient joining process for light metal alloys, offering benefits such as high joint efficiency and reduced grain sizes. This work is to investigate the process parameters that can improve the welding quality and reduce the brittle intermetallic compounds, including Al3Mg2 (β) and Al12Mg17 (γ) in the welded region. It was perceived that the process parameters influenced the morphological characteristics and input heat, thereby affecting the materialization of intermetallic compounds. The primary diffraction peaks of both Al and Mg were present in all the joints. Two specific intermetallic phases, Al3Mg2 and Al12Mg17, were formed as a result of the diffusion of Al and Mg atoms during welding. These intermetallic compounds were found in all the joints. The Al12Mg17 phase, when mixed with the Mg phase, tended to migrate towards the weld surface where the AZ91D plate was positioned. This migration might lead to constitutional liquation, which refers to the melting of specific phases during solidification, resulting in the materialization of eutectic microstructures. The highest ultimate tensile strength (UTS) value of 116.64 MPa was achieved with a rotational tool speed of 800 r/min and a traverse speed of 20 mm/min. On the other hand, the lowest UTS value of 68.32 MPa was observed with a rotational tool speed of 400 r/min and a traverse speed (TS) of 20 mm/min. It was noted that lower UTS values were associated with the materialization of dense layers of intermetallic compounds (Al12Mg17 and Mg + Al12Mg17) in the stir zone when using lower rotational tool speed and TS. It suggests that improper processing parameters can lead to the materialization of intermetallic compound in the stir zone, which subsequently decreases the mechanical properties of the weldments.