A facile and environmentally friendly strategy for grafting polymers onto the surface of multi-walled carbon nanotubes (CNTs) was demonstrated by Diels-Alder “click chemistry”. Firstly, the copolymers of poly(styrene-alt-maleic anhydride) (PSM) were prepared by the reversible addition-fragmentation chain transfer (RAFT) polymerization and subsequently functionalized with furfuryl amine to introduce anchoring groups. The copolymers were then grafted on CNTs via the Diels-Alder reaction in water through a conventional heating-stirring route and ultrasound-assisted method. The obtained nanocomposite materials were characterized by thermogravimetric analysis, Fourier transform infrared spectroscopy, X-ray photoelectron spectroscopy, Raman spectroscopy and transmission electron microscopy. The results indicated that the reaction rate under ultrasound irradiation was accelerated about 12 times than the one under the conventional heating-stirring condition without losing the grafting efficiency. The direct functionalization of CNTs formed a stably dispersed solution in water, promising a green and effective method for industrial process.