The invention relates to a preparation method of a continuous carbon fiber reinforced thermoplastic resin composite material, and belongs to the technical field of composite materials. The method comprises the steps that PEEK resin and a dispersing agent are mixed to be uniform according to the weight ratio being 1:(2-6), the mixture is placed into an impregnation groove, tensioned carbon fiber parallel in one direction is conveyed into the impregnation groove under the effect of traction force to be subjected to impregnation, and the impregnated carbon fiber passes through a high temperaturedrying tunnel, is compacted by a hot pressing roller and finally is wound into rolls to obtain pre-impregnated filaments; the pre-impregnated filaments continue to be pulled pass through the fused thermoplastic resin and then are subjected to 3D printing to a mold to obtain the continuous carbon fiber reinforced thermoplastic resin composite material. The pre-impregnated filaments and the fused resin are fused and manufactured, online manufacturing is facilitated, consistence and integrated performance of products can be ensured, interlayer separation risks are avoided, rapid printing and manufacturing of components of various complex shapes can be achieved, the printing quality is good, and the efficiency is high. The manufactured composite material is applicable to the fields of aerospace, electronics, automobiles and the like.