This paper aims to propose a cost-efficient 5-axis hybrid machining robot for handicraft carving. For this purpose, a conceptual design is performed with a hierarchical design strategy which consists of a 2UPR＆2RPS parallel manipulator (PM) and an orthogonal sliding gantry. Based on the conceptual design scheme, a kinematic analysis is conducted to yield the inverse/forward position formulations and the predicted reachable workspace. Meanwhile, an open-architecture numerical control system is developed for the proposed hybrid machining robot, which includes hardware construction, post processing and human-machine interface (HMI) development. Finally, a laboratory prototype is fabricated and integrated with the developed control system to construct a 5-axis machining unit. A set of test is performed on the robot to verify its 5-axis machining capability. The test results indicate that the proposed hybrid machining robot provide a promising solution for handicraft carving.