We study the laser control of magnon topological phases induced by the Aharonov-Casher effect in insulating antiferromagnets (AFs). Since the laser electric field can be considered as a time-periodic perturbation, we apply the Floquet theory and perform the inverse frequency expansion by focusing on the high frequency region. Using the obtained effective Floquet Hamiltonian, we study nonequilibrium magnon dynamics away from the adiabatic limit and its effect on topological phenomena. We show that a linearly polarized laser can generate helical edge magnon states and induce the magnonic spin Nernst effect, whereas a circularly polarized laser can generate chiral edge magnon states and induce the magnonic thermal Hall effect. In particular, in the latter, we find that the direction of the magnon chiral edge modes and the resulting thermal Hall effect can be controlled by the chirality of the circularly polarized laser through the change from the left-circular to the right-circular polarization. Our results thus provide a handle to control and design magnon topological properties in the insulating AF.