In the process of drilling CFRP sheets by industrial robots, the contact stiffness between the terminal actuator and the sheet is poor, which causes the hole position to vibrate during processing. The design of a presser foot device in front of the terminal actuator can effectively solve this problem. The Navier method is used to solve the allowable range of the pressing force of the presser foot. A numerical simulation model for drilling CFRP sheets is established, and the influence of different pressing forces within the allowable range on the drilling quality is studied, and the recommended value of the pressing force of the presser foot is obtained. Drilling experiments are carried out under different pressing forces. The experimental results show that the optimized pressing force of the presser foot can effectively reduce the vibration of the CFRP sheet during the drilling process, and the surface roughness of the drilling hole wall can reach 1.8μm. At the same time, the surface morphology at the exit of the machined hole is improved.