A quantitative analysis of a surface roughness for a precision machining of a sculptured surface in milling process is treated under superposition theory in this paper. The geometrical surface rouhgness is calculated as a function of feed per tooth, path interval, radii of tool and cutting edge, and radii of curvatures of workiece. Through machining experiments in a 3-axis machining center, we confirmed the adequacy of the adequacy of the analysis. While cutter mark is neglegible in ball endmilling, it is significant in flat endmilling. When feed per tooth is very small, flat endmilling gives superior finish to ball endmilling. In flat endmilling, cutting condition and cutter path should be strategically chosen to balance the cutter mark height and cusp height.