Aramid fiber-reinforced polymer (AFRP) has the advantages of high modulus, high specific strength, and light weight, and has important applications in the aerospace field. In order to overcome the problems in AFRP machine, abrasive water jet and continuous laser processing, such as hair drawing, delamination and large heat-affected zone (HAZ), we carried out the experimental study of ultra-short pulse laser processing AFRP. The ablation threshold of AFRP samples was measured experimentally, and the effects of pulse flux, laser frequency and scanning speed on the HAZ and taper were discussed. The results show that the single-pulse ablation threshold of AFRP processed by 1 030 nm and 230 fs femtosecond laser is 0.815 3 J/cm², and the pulse accumulation factor is 0.598 7. The HAZ increases and the taper decreases with the increase of pulse flux. When the scanning speed is 500 mm/s, the pulse flux is 4—6 J/cm², and the pulse frequency is 100—200 kHz, the HAZ and taper can be balanced, and the precision machining effect of HAZ ≤ 20 μm, taper ≤2 °and smooth layer without hair drawing, delamination on the inner wall can be obtained. This study provides a feasible technical approach for precision machining AFRP and has potential application value.