In the present work, para-aramid fabrics (p-AF) were physically modified via an anchoring process of 0.05 wt% MWCNT to the aramid fiber surfaces by coating the MWCNT/phenolic/methanol mixture on p-AF, and then by thermally curing phenolic resin of 0.01 wt%. Para-aramid fabric-reinforced vinyl ester (p-AF/VE) composites were fabricated using p-AF/VE prepregs by compression molding. The effect of MWCNT anchoring on the thermo-dimensional, thermal deflection resistant, dynamic mechanical, mechanical, and impact properties and the energy absorption behavior of p-AF/VE composites was extensively investigated in terms of coefficient of linear thermal expansion, heat deflection temperature, storage modulus, tan δ, tensile, flexural, and Izod impact properties and a drop-weight impact response. The results well agreed with each other, supporting the improved properties of p-AF/VE composites, which were attributed to the effect of MWCNT anchoring performed on the aramid fiber surfaces.