Additive manufacturing or 3D printing of continuous fibers reinforced composites is in nascent stages of development. Few commercial printers are available in the market; however, the cost of printers and materials is hindering the progress of the technology. Also, the complete know-how of the technology is not available and there is a need to develop the understanding of the technology further. Various techniques used for 3D printing of continuous fibers reinforced composites can broadly be classified as in-nozzle impregnation and pre-impregnation. The main objective of this paper is to review existing research on the manufacturing of continuous fiber reinforced composites with focus on indigenously developed 3D printers using pre-impregnation techniques. In this review, processing techniques used for filament manufacturing, materials used for composite filaments, factors affecting the quality of filaments, 3D printing of composites and mechanical properties of the continuous fibers reinforced composites are discussed in detail.