An ultraviolet (UV) picosecond laser (Nd:YVO4) is used to scribe a soda lime glass substrate. The damaged surface morphology and the corresponding interaction mechanism between the laser and glass are investigated and analysed. According to experimental results, groove shape is only produced at relatively high scanning speeds (200-250 mm/s) by proper removal of the material. However, the increase of the laser energy input to glass with decreasing the scanning speed rarely removes material. Under this condition, the morphology of the irradiated surface has a shallow wave-like pattern. The more increase of the laser energy input by increasing laser power induces the swelling of the surface by volume melting without material removal again. This is attributable to bubble formation to expand the volume below the surface. It is unclear for the interaction mechanism without material removal under larger laser energy input. The further work to understand the physics behind this result is now in progress. In this study, the crack along the scan direction only tends to be produced at relatively lower scanning speed due to the larger accumulation of laser energy in the irradiated area. Multiple scans are also ineffective in developing a groove shape in the irradiated surface if the groove shape is not formed by single laser scan.