Carbon fiber reinforced polymer (CFRP) composites need to be machined by operations like trimming, reaming and drilling for the dimensional tolerance and final assembly. This paper presents a cutting parameters optimization method for drilling of CFRP composites to improve hole quality and production efficiency. Hole quality indicators including exit delamination and average surface roughness are expressed as functions of cutting parameters based on the regression analysis of experimental data. Multi-objective optimization of cutting parameters for decreasing exit delamination and surface roughness, increasing material removal rate is accomplished with non-dominated sorting genetic algorithm Ⅱ (NSGA-Ⅱ). Optimization results are large numbers of Pareto optimal solutions widely distributed in the objective space, the reliability of Pareto optimal solutions is checked with the global convergence and spacing distance. Moreover, posterior analysis is implemented to identify key solutions of better performance from the Pareto optimal solutions to facilitate the decision-making. Results show that the identified key solutions are capable of achieving satisfactory drilling performances with different preferences for exit delamination, surface roughness and material removal rate. This study provides a feasible way to determine the appropriate cutting parameters, with which demands for multiple responses could be satisfied simultaneously in practical machining operations.