As a widely used electrode material, carbon cloth possesses the advantages of a stable self-supporting structure and fast electron conduction rate. Sodium vanadate has gradually attracted the attention of researchers owing to its unique layered tunnel-like structure. In this work, in-situ growth of NaV6O15 on carbon fiber with a 3D porous tunnel-like structure for cathode material of aqueous zinc ion batteries is reported. NaV6O15 nanorods are uniformly dispersed on the surface of carbon cloth fibers and coated perfectly, which intertwined to form rich 3D porous tunnels. The as-prepared NaV6O15 @C has a reversible capacity of 487.7 mAh·g−1 at 0.1 A·g−1, which is 2.6 times that of pure NaV6O15-A. The coulomb efficiency (CE) is always maintained at 100 %, which proposed a scheme for the design of higher capacity cathode materials.