Carbon nanomaterials are increasingly being integrated into modern research, particularly within the textile industry, to significantly boost performance and broaden application possibilities. This study investigates the impact of incorporating three distinct carbon-based nanofillers—carbon nanotubes (CNTs), carbon black (CB), and graphene (Gn)—into polyamide 6 (PA6) multifilament yarns. It explores how these nanofillers affect the physical, mechanical, and thermal properties of PA6 yarns and fabrics. By utilizing melt extrusion, the nanomaterials were uniformly distributed in the yarns, and knitted fabrics were subsequently produced for detailed analysis. The research offers critical insights into how each nanofiller improves the thermal behavior of PA6-based textiles, enabling the customization of their applications. FTIR spectroscopy revealed significant chemical interactions between polyamide and carbon additives, while DSC analysis showed enhanced thermal stability, particularly with the inclusion of graphene. The introduction of these nanomaterials led to increased absorbance and decreased transmittance in the UV-Vis-NIR spectrum. Additionally, Far-Infrared (FIR) emissivity and thermal effusivity varied with different concentrations, with optimal improvements observed at specific levels. Although thermal conductivity decreased with the addition of these nanomaterials, heat management experiments demonstrated varied effects on heat accumulation and cooling times, underscoring potential applications in insulation and cooling technologies. These findings enrich the existing knowledge on nanomaterial-enhanced textiles, providing valuable guidance for optimizing PA6 yarns and fabrics for use in protective clothing, sportswear, and technical textiles. The comparative analysis offers a thorough understanding of the relationship between carbon nanomaterials and thermal properties, paving the way for innovative advancements in functional textile materials.