Braid-press forming was developed for manufacturing hollow tube parts made of carbon fiber reinforced thermoplastic (CFRTP) tape. The CFRTP tapes were braided to make a tube, which was consolidated under pressure and heat in the press forming process. Internal pressure was applied to the braided CFRTP tube by a silicone rubber rod inserted in the tube using axial compression. The reason for using a silicone rubber rod was to apply a high internal pressure until the molten resin solidified, which cannot be achieved in bladder molding and pultrusion, and to obtain good consolidation quality and high mechanical properties. As a result, up to 7 MPa press pressure was successfully applied and the tube made contained no voids and had good flexural properties. The study of the pressure showed that the higher press pressure (from 4.1 MPa) produced tubes with higher flexural properties. The estimation of wall thickness after press forming using the braiding architecture agreed with the measured value. Subjects to be addressed in future studies are productivity improvements and continuous tube manufacturing by the serial joining of braiding and press forming. It can be concluded that braid-press forming is a desirable method for the manufacturing of tubes for structural applications and can be used in future mass-production.