This study explores the joining of AA6061-T6 aluminium alloy and AZ31B magnesium alloy using the Cold Metal Transfer (CMT) process with ER4043 aluminium filler wire. The influence of wire feed speed (WFS), welding speed (WS), and arc length correction (ALC) on weld bead geometry, microstructure, and mechanical properties of Al/Mg joints was investigated. The results indicate that WFS, WS, and ALC significantly affect weld characteristics. Increasing WFS leads to higher heat input, improving reinforcement height, penetration, and bead width. At 4700 mm/min WFS, optimal reinforcement height was achieved, while 5000 mm/min further enhanced penetration and bead width. Higher WS reduced heat input, resulting in narrower bead width, shallower penetration, and lower reinforcement height. ALC influenced arc behaviour, with 10% ALC minimising the weld metal area and 15% significantly increasing it. Microstructural analysis identified MgO, Mg solid solution, Mg2Al3, and Mg17Al12 at different joint regions. The optimized parameters (4700 mm/min WFS, 280 mm/min WS, 10% ALC) yielded the highest tensile strength of 34 MPa and hardness of 120 HV. Fracture occurred mainly at the Mg/weld interface and near the fusion line. This study underscores the importance of welding parameters in enhancing the mechanical properties of Al/Mg joints and provides insights for optimising aluminium-magnesium welding.