The evolution of the manufacturing industry has favored the use of new technologies that increase the level of autonomy in production systems. The work presented shows a methodology that allows for online estimation of cutting parameters based on the analysis of the cutting force signal pattern. The dynamic response of the tool is taken into account through a function that relates the response time to the input variables in the process. The force signal is obtained with a dynamometric platform based on piezoelectric sensors. The final section of the paper shows the experimental validation where machining tests with variable machining conditions were carried out. The results reveal high precision in the estimation of depths of cut in end milling.