We report a comprehensive investigation of inductively-coupled plasma reactive ion etching (ICP-RIE) of polar (0001) c-plane, semi-polar (11-22) and non-polar (11-20) a-plane AlN epilayers and show that under optimized conditions a combination of BCl 3 -based surface oxide removal pretreatment and Cl 2 /Ar ICP etching allows fast etch rates (750 nm min −1 ) with a smooth surface morphology. We compare samples of different orientation etched in Cl 2 /Ar and Cl 2 /BCl 3 /Ar plasmas, with and without BCl 3 /Ar ICP pretreatment, and show that the effective removal of surface oxide is a crucial step for reliable ICP-RIE etching of AlN layers. For such pretreated samples, optimization of etch parameters such as RF power, ICP power, and chamber pressure then permit very high etch rates to be obtained with a smooth surface morphology. We also study the effect of varying the BCl 3 fraction in BCl 3 /Cl 2 /Ar plasmas on the etch rate and surface morphology and find that increasing the BCl 3 fraction reduces the etch rate for AlN. However, above 20% BCl 3 content, samples with and without pre-treatment show similar etch rates.