Different surface morphologies on AISI 304 stainless steel have been obtained after millisecond Nd:YAG pulsed laser oxidation. The effects of laser processing parameters, especially pulse width and laser energy density on the surface morphologies of the stainless steel were emphatically investigated. The results showed that surface morphologies were significantly changed with increasing laser pulse widths and laser energy densities. When the pulse width was 0.2–1.0 ms and laser energy density was 4.30×10 6–7.00×10 6 J/m 2, the surface was obviously damaged and the morphologies varied gradually from craters to ripple structures. However, when the pulse width was longer than 1 ms and the laser energy density was increased from 1.90×10 7 to 3.16×10 7 J/m 2, the sizes of craters got smaller until disappeared and the surface became flatter and smoother. Nevertheless, the smooth surface was not obtained under overhigh laser energy densities. In addition, the schematic relationship was used to describe the formation process and mechanism of different surface morphologies. ▶ Surface temperature fields are established by a analytical model under different pulse widths. ▶ Effects of the laser parameters on surface morphologies of the stainless steel are revealed. ▶ Formation process and mechanism of different surface morphologies are illustrated.