Recently, prefabricated construction has been vigorously promoted, resulting in high demand for precast concrete (PC) components. The transportation scheduling optimization problem of PC components with various kinds from multiple projects arises. Unlike conventional cargo, PC components are characterized by shape heterogeneity, large volume, and strict delivery time limits. Based on three characteristics, a heterogeneous fixed fleet vehicle routing problem (HFFVRP) for PC components is introduced, where heterogeneous vehicles, allocation of PC components to size-matching vehicles, and hybrid time windows are considered. Then a two-stage solution strategy based on the improved ant colony optimization (ACO) and Dijkstra algorithm is designed to obtain optimal vehicle routes under minimum transportation costs. The results indicate that the improved ACO-Dijkstra algorithm outperforms in obtaining optimal transportation plans for heterogeneous vehicles compared with manual decision-making and other heuristic algorithms. Sensitivity analysis denotes that utilizing heterogeneous vehicles contributes to reductions in transportation costs, and vehicle configuration should be adjusted along with demand scales. The proposed model and algorithm extend the theoretical basis of construction industrial applications.