An analytical approach was developed for assessing the thermal history of thermoplastic composites during tape placement for in-situ consolidation of the automated fiber placement (AFP) technique. In this study, the heat-conduction equation is developed and solved for internal energy instead of temperature because the diffusivity does not significantly change over a wide range of temperatures in the AFP process, despite the significant change in the specific heat and conductivity. The three-dimensional internal energy history is derived in an integrated form using the Green function technique. The temperature field obtained from the internal energy field agreed with the finite element solution, where the temperature-dependent thermal properties were considered. The effects of manufacturing parameters, such as the placement speed and thickness of the placed laminates, on the thermal history of laminated composites during AFP are discussed using the present approach and finite element analysiss.