The present invention relates to a process for preparing a polyamide based on dicarboxylic acids and diamines, comprising the following stages: A) providing an aqueous monomer mixture composed of dicarboxylic acids and diamines, where the molar ratio of dicarboxylic acids to diamines is adjusted such that, at the outlet of stage C), there is a molar deficiency of dicarboxylic acids or diamines of 1 to 10 mol %, based on the respective other component, B) transferring the aqueous mixture from stage A) into a continuous evaporator reactor in which diamines and dicarboxylic acids are converted at a temperature in the range from 100 to 370° C. and a pressure in the range from 1 to 50 bar, C) transferring the mixture from stage B) into a separator which is operated at a temperature in the range from 100 to 370° C. and a pressure in the range from 1 to 50 bar with removal of gaseous components, D) transferring the mixture from stage C) together with diamine or dicarboxylic acid in an amount suitable for compensation for the molar deficiency into a tubular reactor which is operated at a temperature in the range from 100 to 370° C. and a pressure in the range from 1 to 50 bar, for a residence time in the range from 10 seconds to 30 minutes, E) transferring the mixture from stage D) into an extruder which is operated at a temperature in the range from 150 to 400° C. for a residence time in the range from 10 seconds to 30 minutes with removal of gaseous components through venting orifices.