A design of damped milling cutter embedded with passive damper is proposed, and an optimal structural design is achieved after performing modal tests on the damper. The dynamic characteristics of the damped milling cutter in different directions are studied. Moreover, the cutting experiments of aluminum alloy and titanium alloy with different cutting parameters are accomplished. Compared with the non-damped milling cutter, the machining noise, cutting force and surface roughness of damped milling cutter are reduced by 52.1%, 49.5% and 73.4%, respectively, when machining aluminum. The damped milling cutter can machine the titanium in a stable condition while non-damped cutter has an obvious chatter vibration with the same cutting parameters.