Multi-tooth milling cutters have the advantages of minimal surface damages and low cutting forces and are widely used in composite materials milling such as carbon fiber and wood. Cortical bone is a composite biomaterial similar to carbon fiber and wood;​ however, the cutting performance of multi-tooth milling cutters on bone cutting is unclear. Here, this paper proposes a multi-tooth milling cutter longitudinal torsional ultrasonic vibration assisted milling (LTVUM) method for cortical bone low damage cutting. The cutting performance of sinusoidal and corn edge cutters for cortical bone LTVUM was studied, and its material removal mechanisms were also established. The results indicated that the multi-tooth milling cutter has a smaller average cutting force, and suppressing the chip burrs and tearing damages. Compared to straight edge cutter, the resultant cutting forces of sinusoidal and corn edge cutters are decreased by 52.58%–61.01% and 45.60%−65.96%. The reason is that the secondary cutting edge of multi-tooth cutter can participate in cutting, reducing the tool squeeze interference. This work provides experimental guidance for the application of multi-tooth milling cutters LTVUM in bone cutting.