A key challenge in the utilization of waste polyester fibers (PET fibers) is the development of fiber-reinforced composites with high filler content and the improvement of fiber length retention. Herein, the effects of a two-rotor continuous mixer and a twin-screw extruder on the structure and properties of waste polyester fiber composites were evaluated. The results revealed that the mechanical properties of the composites were improved significantly with increasing fiber content, especially when processed using the twin-rotor continuous mixer. This mixer facilitated the formation of a robust fiber network structure, leading to substantial enhancements in tensile strength, flexural strength, and heat resistance. Specifically, compared to those processed by the twin-screw extruder, with 60 wt% fibers content, the tensile and flexural strengths of specimens processed by the twin-rotor continuous mixer increase by 21% and 13%, respectively. The average fiber length in specimens processed by the twin-rotor continuous mixer was 32% longer than that in specimens processed by the twin-screw extruder, attributable to the lower shear frequency and the higher tensile ratio of the former. This blending technique emerges as an effective strategy, contributing significantly to promoting the development and practical application of waste textile fiber-reinforced polymer composites.