As an important structure in 3D printing lightweight design, the lattice has the advantage of being strong and effectively absorbing impact force. However, directly fabricating lattice structures using continuous carbon fiber-reinforced polymer (C-CFRP) composites is challenging. In this study, two methods were used to prepare lattice structures: manual and additive manufacturing (AM) technologies. In the manual method, the shape of the pyramidal toolpath is fixed through the mold and post-processed at high temperatures to form individual tool paths. The individual tool paths are fixed using a laser and assembled manually into a six-layer pyramidal lattice structure. In the AM method, a strategy for directly preparing the lattice structure of continuous carbon fibers (CCF) using 3D printers was proposed by studying the properties of thermosetting materials. The free-hanging lattice structure is formed without any auxiliary tools or post-curing processes. Under laser curing, single toolpaths and 3D triangle lattice toolpaths are formed. The investigation of the process parameters of a single toolpath and modified toolpath enables the preparation of overlapping toolpaths and complex free-hanging lattice structures. These results provide a valuable reference for directly utilizing 3D printing to fabricate thermosetting carbon fiber lattice structures.