A flexible composite driveshaft formed by automated fiber placement includes a first region extending longitudinally about an axis and having a substantially constant first diameter and a second region adjacent to the first region. The second region includes a first diaphragm extending radially outward from the first region about a circumference of the driveshaft and a second diaphragm extending radially outward from the first region about the circumference of the driveshaft. The first and second regions each include a plurality of strips of unidirectional fiber tape, wherein the plurality of strips is arranged in a plurality of stacked layers and wherein a first portion of the plurality of strips is oriented in a circumferential direction. At least one of the circumferentially-oriented strips of unidirectional fiber tape is positioned between the first and second diaphragms and comprises a plurality of folds formed about the circumference of the driveshaft.