Carbon fiber-reinforced plastics (CFRPs), are utilized in the various mobilities owing to their superior specific structural rigidity. However, the studies for the structural health monitoring (SHM) of a tubular CFRP are relatively limited compared to its market share although it is directly related to the structural duties. Thus, this study investigated structural health self-monitoring (SHSm) of tubular CFRPs by monitoring their electrical resistances simultaneously. Multiple electrodes monitored electrical resistances of the CFRP tubes in terms of their mechanical deformation realizing condition-based SHM without any sensors. The proposed self-monitoring technology enabled not only local but also global deformation even after the mechanical fractures. Furthermore, the proposed self-monitoring method was comparatively analyzed and verified with corresponding mechanics and finite element analysis. Therefore, real-time SHSm technology for tubular CFRPs with various fiber stacking configurations was realised in this study covering all the deformation types over the whole structures.