Thrust force is the most important element which will cause delamination in the drilling of CFRP. This paper developed a dynamic thrust force prediction model for CFRP drilling, by firstly, representing the drilling process into a three-step model. Secondly, the dynamic thrust force is decomposed into two parts. Thirdly, the thrust force components on both tool major cutting edge and chisel edge is developed according to the analysis on infinitesimal cutting unit. Lastly, several experiments are performed to compare the result of thrust force analyzed, which proves that the purposed model can analyze the dynamic thrust force in drilling of CFRP well.