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Serial milling machines may one day find their limits in high-speed milling due to their limited dynamic characteristics. Indeed, the major drawback of a serial structure is that it consists of a pile of actuated joints; hence the mass on board for the axis underneath can be huge. This is mainly the reason why parallel structures are of interest in milling: in order to go faster. Such structures have been developed since 1980 for robotic tasks, while the first parallel kinematics machine tool appeared only 14 years later. Since then, very few papers have been published that deal with the potential of these structures in milling. The objective of this study is to show the potentialities of parallel structures in milling and especially in high-speed milling of free form surfaces, in comparison to serial structures. To do so, experiments have been realised on four serial kinematics machines (SKMs) and four parallel kinematics machines …