A novel embedded cylindrical-array magnetic actuator (ECAMA) is proposed and verified by experiments to provide sufficient magnetic force for spindle deviation regulation of high-speed milling process. Four I-shape silicon steel columns enclosing the spindle constitute the backbone of the ECAMA. The shape of modified concave-type yokes is designed to reduce the average air gap between magnetic poles and the spindle. In contrast to the conventional AMB (active magnetic bearing) design for which coils are usually wound on the yokes, the copper wire is wound on the I-shape silicon steel columns. As a result, the overall wound coil turns can be much increased. In other words, stronger magnetic force can be induced by ECAMA. On the other hand, to reduce the cost of ECAMA, two pairs of self-sensing modules are employed to replace the gap sensors for measurement of spindle position deviation. In order to verify the efficacy of the proposed ECAMA and the self-sensing module, high-speed milling tests are undertaken. By inspection on the precision and quality of the finish surface of workpiece, the superiority of ECAMA and the self-sensing module are assured.