One of the established limitations of metal additive manufacturing (AM) methods, such as selective laser melting (SLM), is the resulting rough surface finish. Laser polishing is one method that can be used to achieve an improved surface finish on AM printed parts. This study is focused on the laser surface polishing of AM parts using CO2 laser beam irradiation. Despite the fact that several researchers have investigated the traditional abrasive polishing method, there is still a lack of information reporting on the laser surface polishing of metal parts. In this study, AM 316L stainless steel cylindrical samples were polished using CO2 laser beam irradiation in continuous wave (CW) working mode. Two design of experiment models were developed for the optimization of the input processing parameters by statistical analysis of their effect on the resulting roughness. The processing parameters investigated were the laser beam power, the rotational speed of the sample, the number of laser scan passes, the laser beam focal position, and the percentage overlap of the laser tracks between consecutive passes. The characterization of the measured roughness and the modified layer microstructure was carried out using 3D optical and scanning electron microscopy (SEM). A maximum reduction of the roughness from 10.4 to 2.7 µm was achieved and no significant change in the microstructure phase type and micro-hardness was observed.