Carbon nanotube/continuous carbon fiber reinforced poly(ethylene terephthalate) (CNT/CCF/PET) composites are prepared by melt impregnating. The effects of CF and CNT content on the mechanical properties, melt and crystallization behaviors, and submicroscopic morphology of CNT/CCF/PET composites are studied. The tensile test results show that the increase of CF and the addition of appropriate amount of CNT improved the tensile strength and tensile modulus of the composites. When the content of CNT is 1.0 wt% and the content of CF is 56 wt%, the properties of the composites are the best, with tensile strength of 1728.7 MPa and tensile modulus of 25.1 GPa, which is much higher than that of traditional resin matrix composites. The results of dynamic mechanical analysis (DMA) show that the storage modulus of the composites increased with the increase of CF and CNT content. In particular, the addition of CNT greatly reduced the loss modulus of the composites. Morphological analysis show that the addition of CNT improved the fiber–matrix interface of the composite, which changes from fiber pull-out and fracture failure to fiber matrix fracture failure, and the fiber matrix interface is firmly bonded. In addition, there are polymer coated CNT protrusions on the surface of the fiber was observed. The results of differential scanning calorimetry (DSC) show that the melting temperature and crystallization temperature of the composites increased with the increase of CF content. The addition of CNT had little effect on the melting temperature of the composites, but it further improved the crystallization temperature of the composites. The effect of CNT content on the crystallization kinetics of the composites is studied. The non-isothermal crystallization kinetics of the composites is described by Jeziorny’s improved Avrami equation. The results show that CNT has a great influence on the crystallization type of the composites. As a nucleating agent, CNT has obvious heterogeneous nucleation effect in the composites, which improves the crystallization rate of PET.