Fused deposition modeling (FDM) is a widely used additive manufacturing (AM) method that offers great flexibility in fabricating complex geometries without requiring expensive equipment. However, compared to other manufacturing methods, FDM-produced parts generally exhibit lower strength and fatigue life. To overcome this limitation, researchers have explored the use of fibers and reinforcements to enhance the mechanical properties of FDM parts. Nevertheless, the performance of FDM-produced parts can be significantly affected by various manufacturing parameters, including infill density, which is a key factor in balancing time and cost. In this study, the tensile strength and fatigue life of carbon fiber-reinforced polylactic acid (PLA) composites produced by FDM were investigated by varying the infill density (50 and 75%) and raster angle (0°, 45°, and 90°). The effects of 100% filling density, raster width, and nozzle diameter on mechanical properties were also examined. The experimental results demonstrated that increasing the infill density and decreasing the raster angle can enhance the tensile strength, although the fatigue behavior was found to be more complex and dependent on the infill density. The optimal parameters for producing FDM parts with improved mechanical properties were identified based on the analysis of the tensile strength and fatigue life data. This research has yielded significant findings concerning the diverse fatigue behavior associated with the raster angle at different infill densities. Specifically, noteworthy observations reveal that a raster angle of 45 degrees at 50% infill density, and a raster angle of 0 degrees at 75% infill density, exhibited the most prolonged fatigue life. This outcome can be ascribed to the specific loading conditions and the inherent strength of the sediment layer at the critical point of stress concentration.