Al 6061-B4C metal matrix composites were fabricated using a novel solid state additive manufacturing technique of additive friction stir deposition (AFSD). Incorporation of B4C particles into the deposit was achieved by employing hollow Al 6061 feed stock filled with B4C powder and three different AFSD tool rotational speeds (200, 300 and 400 rpm). Fabricated deposits exhibited remarkable metallurgical bonding across the substrate/deposit interface and interlayer interfaces for all tool rotational speeds, indicating a wider fabrication window. A physics based pseudo-thermo mechanical model was employed to evaluate the thermo-kinetic conditions experienced by the depositing material to correlate with the microstructural observations. Deposited layers exhibited refinement of grains to ∼10 μm from the corresponding coarse grain structure of feedstock (136 μm). The regions near the B4C particles were observed to have finer grains (<2 μm) signifying particle stimulated nucleation. Although considerable loss in the tensile properties (60 % drop in yield strength) was observed in the AFSD deposits due to the associated dissolution of β’’ precipitates, subsequent heat treatment restored the tensile properties to the level of as received material (∼290 MPa). The thermo-kinetic conditions (temperature in excess of 500 °C and strain rates in excess of 250 s−1) experienced by the builds under higher AFSD tool rotational speeds (300 and 400 rpm) appeared to result in refinement of Al–Fe–Si based secondary intermetallic precipitates/dispersoids leading to the observed higher stability of their microstructure during the subsequent post AFSD heat treatment. Samples AFSD fabricated with a lower tool rotational speed of 200 rpm, however, exhibited significant grain growth on account of relatively larger secondary precipitates/dispersoids.