Based on the cutting temperature simulation and the single-abrasive scratch test, the cutting force variation and heat variation laws of carbon fiber reinforced thermoplastic composites (CFRTP) as well as its removal characteristics were studied, and the removal process and the damage characteristics of CFRTP with different fiber angles and cutting temperatures were analyzed. For investigating the surface damage characteristics of CFRTP, single-abrasive scratch tests were conducted, and the variation trends of cutting force and heat, as well as the effect of temperature on material removal was analyzed, by changing the cutting process parameters, fiber directions and material heating temperatures. As the single-abrasive scratch speed increased from 3 m/s to 7 m/s, the tangential force and normal force increased by 130.60% and 147.80%, respectively; as the single-abrasive scratch depth increased from 0.05 mm to 0.10 mm, the tangential force and normal force increased by 72.44% and 58.13%, respectively; as the fiber angle increased from 0° to 30°, 45°, 60°, and 90°, the tangential force increased by 12.50%, 37.50%, 75.00%, and 137.50%, respectively. CFRTP was primarily characterized by the shear damage at 20.0 ℃, while the tensile damage dominated at high temperatures, accompanied by the delamination and fiber pull-out phenomena. As the cutting temperature increased, the thermoplastic resin softened, which reduced the interlaminar strength and the bearing performance of CFRTP, leading to a decrease in cutting force and a reduction in the number of effectively severed fibers so that a deterioration in the machining surface quality.