Fused filament fabrication (FFF) 3D printing technology for continuous fiber-reinforced composite (CFRC) printing has become a trend. This article is based on ‘independent extrusion’ FFF CFRC printing. The continuous fiber-reinforced filament (CFRF) printing solution is the contour offset method for obtaining executable g-code. When the CFRCF prints at the corner, it is found that the actual CFRC printing trajectory is inconsistent with the ideal laying trajectory. The causes of the error are analyzed, and an angle optimization algorithm is proposed. The corner optimization algorithm is verified by theoretical analysis and experimental analysis. From the experimental results, the corner optimization algorithm improves the 30° angle fit of CFRF printing by 90% and reliability has also been improved. When the printing length is 127,200 mm, there are 960 printing corners, and the failure rate is 0.