Abrasive water jet machining (AWJM) is mainly used to through cut materials that are difficult to cut by conventional machining processes. This process may also be used for controlled depth milling (CDM) of materials. This work focuses on making blind pockets of controlled depths for a set of materials with AWJM. The materials used in the present work are AL 6061 alloy, AL 2024, brass 353, titanium (Ti6Al4V), AISI 304 (SS), and tool steel (M2 Rc 20). The effects of the milling depth and material characteristics on milling time are investigated. It is observed that machinability index and mechanical properties of the materials milled play important role in establishing milling time and surface roughness. It is found that traverse speed of AWJ process is lower for the materials with low machinability index and vice versa. Besides, the milling time increases non-linearly as the depth of milling increases due to loss of energy of jet and increase in standoff distance (SOD). [ABSTRACT FROM AUTHOR]