Abstract: The milling force during robot milling can monitor the machining quality of the workpiece, tool status, etc., and is one of the most important parameters. However, in the processing of large structural components, it is difficult to directly measure the milling force of robots through force gauges. A rapid identification method for robot milling force based on acceleration was proposesed. Firstly, based on the relationship between acceleration and milling force in the robot system, a framework for indirectly identifying robot milling force through acceleration was provided. Then, based on the recursion of the robot system matrix and the specificity of the regularization operator, the speed of robot milling force identification was improved. Finally, the effectiveness of the proposed method was verified through robot milling experiments. The experimental results show that the proposed fast identification method for robot milling force reduces the identification time to within 15 ms.