Cellulose nanocrystals or nanoparticles (CNCs) has drawn a lot of attention due to their abundance, biocompatibility, renewability and their excellent mechanical properties paving the way to innovative and sustainable applications. In the present work, the stem residues of Asclepias Syriaca, better known as milkweed and generally regarded as a weed, was used for the first time to extract CNCs with a crystalline structure type-II (CNCs-II). Structural, thermal, morphological and mechanical properties of extracted CNCs-II were characterized by means of Fourier Transform Infrared (FT-IR), X-Ray Diffraction (XRD), Scanning Electron Microscopy (SEM), Dynamic Light Scattering (DLS), Thermogravimetric Analysis (TGA) and Atomic Force Microscopy (AFM). Asclepias Syriaca stem fibers revealed quite similar cellulose content as compared to other milkweed species and, stable suspensions made of nanosphere- and nanorod- shape CNCs-II were successfully extracted from raw milkweed fibers. In addition, after conversion from cellulose-I to cellulose-II by mercerization, milkweed cellulose-II exhibited higher thermal resistance as compared to cellulose-I with degradation temperature at 328 °C and 310 °C respectively. Finally, the transversal elastic modulus of individuals CNCs-II, as measured by atomic force microscopy, was found to be in the range of 3.5-27 GPa which is consistent with reported values for CNCs-I or -II in the literature.