The controllable distribution of continuous fibers on the rotary surface is the key to realize the high performance manufacturing of continuous fiber honeycomb rotary structure. In this paper, for the complex preparation process of continuous fiber honeycomb rotary structure and the difficulty in accurately controlling fiber distribution, we propose a column surface layered 3D printing method of continuous fiber honeycomb rotary structure, which realizes the controllable distribution of continuous fibers in any direction on the column surface through the path planning of the column surface layering. This method provides support for the integrated manufacturing of complex continuous fiber honeycomb rotary structures. The effects of continuous fiber honeycomb angle and size on the axial compression performance and failure mode of continuous fiber composite honeycomb rotary structures are investigated by column surface path planning. The results show that the angle and size of the continuous fiber honeycomb can be precisely regulated by column surface path planning, which can then control the deformation behavior and failure mode of the continuous fiber honeycomb rotary structure, and optimize the load-bearing performance and energy-absorbing characteristics of the continuous fiber honeycomb rotary structure. This study provides a new process method for high-performance moldless rapid manufacturing of aerospace composite rotary components.