Continuous fiber reinforced polymer composites (CFRPCs) is a new material in the field of additive manufacturing. Compared with traditional machining materials such as metals and ceramics, CFRPCs have the characteristics of light weight, high strength, fatigue and corrosion resistance. Therefore, it is widely used in aerospace, rail transit and biomedical and other fields. In recent years, with the development of additive manufacturing technology, CFRPCs 3D printing technology has opened up new ideas for the manufacture of high performance, low cost and customizable complex structural parts. This paper presents a comprehensive review of the CFPRCs 3D printing process, focusing on the latest research advancements in materials, process parameters, and performance enhancement techniques primarily based on the fused deposition modeling (FDM) process. It concludes with a summary and outlook on the current challenges and future developments in this field.