In this study, two types of thermoplastic matrices (low melting point polyethylene terephthalate (LPET) fiber and polypropylene (PP) fiber) and glass fiber/epoxy resin/multi-walled carbon nanotubes (MWCNTs) were used to fabricate the thermoplastic and thermoset composite materials with 3D biaxial warp-knitted fabrics. Thermoplastic and thermoset composites were fabricated using hot-press and resin transfer molding (RTM) methods. The fabricated samples were tested with tensile and three-point flexural tests. In thermoplastic composites, samples in the 90 degrees direction and LPET matrix showed the best tensile and flexural properties with an improvement of 39 and 21% tensile modulus and strength, 16 and 8% flexural modulus and strength compared to the PP samples in the same direction. In thermoset composites, samples in the 90 degrees direction and MWCNTs showed the best improvement of the flexural modulus and strength with 97 and 58% compared to the samples without MWCNTs. This improvement can most likely be attributed to an increase in interfacial adhesion due to the presence of the carbon nanotubes.