A hybrid milling machine with actuation redundancy is developed in the current paper. This machine is capable of five-face milling in one setup. A redundant parallel kinematic module (PKM) is proposed by the introduction of actuation redundancy. Based on this module, the hybrid mechanism of the machine is presented. A local minimized transmission index is proposed to evaluate the motion/force transmissibility of the redundant PKM. The finite element analysis (FEA) simulation is used in the mechanical design of the machine to verify the stiffness and frequency characteristics of the model. After the manufacture and assembly of the machine, experiments on stiffness, accuracy, and machining are carried out. The capability of five-face milling in one setup is verified, and the finished work piece has good surface quality.