A shape-performance synergistic design and additive manufacturing strategy was developed for the transfemoral prosthetic sockets (TPS) to fulfill the demands of customized geometry and long-term load bearing. The 3D printing path of the continuous fiber reinforced polymer composites (CFRPC) was generated by reversing the milling path of subtractive manufacturing. The mechanical properties of the 3D printed CFRPC samples were investigated as a foundation, and the customized fiber trajectories were designed based on the analyzed stress pattern of the TPS in daily gait. The CFRPC TPS with weight of 28 % less than those made by pure resin had a safety factor larger than 3 and passed the fatigue testing of 3 million cycles. The design and additive manufacturing strategy developed in this study was also applicable for other parts with freeform surfaces.