In order to study the effect of liquid properties on laser ablation in liquids, aluminum 5A06 and titanium TB5 targets were irradiated by single-pulse infrared laser in isopropanol, distilled water, glycerin and as a comparison, in air, respectively. Craters induced by laser ablation were characterized using scanning electron and white-light interferometric microscopies. The results show that for liquid-mediated ablation, craters with porous surface structures were formed in aluminum target through phase explosion, while no micro-cavities were formed in titanium target owing to high critical temperature of titanium. In addition, ablation rates of aluminum and titanium targets vary with types of ambient media in accordance with such sequence: air < isopropanol < water < glycerin. Further, the influence of liquid properties on material-removal mechanisms for laser ablation in liquid is discussed. It is concluded that the density, thermal conductivity and acoustical impedance of liquid play a dominant role in laser ablation efficiency. (C) 2015 Elsevier B.V. All rights reserved.