Exploring low-cost and highly efficient non-precious metal electrocatalysts toward oxygen reduction reaction is crucial for the development of fuel cells. Herein, we report the synthesis of bamboo-like N-doped carbon nanotubes with encapsulated Fe-nanoparticles through high-temperature pyrolysis of multiple nitrogen complex consisting of benzoguanamine, cyanuric acid, and melamine. As-prepared catalyst exhibits high catalytic activity for oxygen reduction with onset potential of 1.10 V and half-wave potential of 0.93 V, as well as low H2O2 yield (<1%) in alkaline medium. The mass activity of the catalyst at 1.0 V (0.58 A g−1) can reach 43% of state-of-the-art commercial Pt/C. This catalyst also exhibits high durability and ethanol tolerance. When it was applied in alkaline membrane direct ethanol fuel cell, the peak power density could reach to 64 mW cm−2, indicating its attractive application prospect in fuel cells.