Vibration-assisted helical milling is considered a promising hole-making process in the aerospace industry. The prediction of cutting force magnitude and behavior is very important to determine the cutting power, produce tight tolerance, eliminate tool wear, and improve the hole quality. Therefore, the main goal of this work is to establish a cutting force model and evaluate the cutting force coefficients, based on a mechanistic approach, during vibration-assisted helical milling of aerospace aluminum alloy (Al 7075). The process kinematics, the chip geometry including the chip width and chip thickness variations, and the tool-workpiece engagement are theoretically analyzed throughout the whole machining time. A set of experimental tests is implemented at different conditions of tangential feed and helical pitch. Additionally, model validation is performed to discuss the quality and accuracy of the presented model. Consequently, the behavior of the cutting force components against the application of ultrasonic vibration at different cutting conditions is demonstrated. The results show that the analytical and the experimental results are well agreed with a relatively small error percentage. The cutting force components generally increase as tangential feed and helical pitch increase. Moreover, the superimposed ultrasonic vibration causes a rapid tool-workpiece separation increasing the analytical and the experimental oscillation of the cutting force components, thus decreasing the average calculated cutting force.