<p>Tool wear exacerbates fluctuations in milling force during machining, resulting in degradation of product surface quality and dimensional accuracy. Accurate prediction of milling force helps to duly adjust milling parameters in real time, extending tool life and improving part quality. This study presents an improved prediction model of milling force incorporating tool wear effects. The model accounts for the tool geometry evolution caused by tool wear, as well as the additional frictional interactions between the tool and the workpiece due to wear. Initially, building on the existing mechanical model, the calculation methods for tool-workpiece engagement and instantaneous undeformed chip thickness are optimized, leading to the improved rigid milling force model. Subsequently, the mapping model linking tool wear to effective cutting radius of tool is developed, and modification of the rigid milling force model is introduced to account for the time-varying state of the tool. Additionally, the additional friction effects between the tool wear area and the workpiece surface are incorporated as additional friction forces through the friction force coefficient of tool wear. These adjustments resulted in the comprehensive model that integrates the modified rigid milling force with additional friction force to account for tool wear. To enhance the efficiency of model parameter calibration, the rapid calibration formula and experimental method for the model coefficients were proposed. Finally, the predicted results of the proposed model are experimentally validated, and the results demonstrate that the milling force model shows good agreement with the actual milling force, which confirms the effectiveness of the milling force model incorporating tool wear.</p>