Abstract: A three-dimensional printing method of composite materials comprises at least the following phases: supply of one three-dimensional printing device; supply of one thermosetting resin and of one filament comprising one fiber; feeding of the thermosetting resin and of the filament inside the three-dimensional printing device; impregnation of the filament in the thermosetting resin to obtain a composite material wherein the filament is wrapped by the thermosetting resin; extrusion of the composite material onto a work surface to form one layer; heating of the composite material to induce a cure of the thermosetting resin; wherein the heating phase comprises a step of direct heating of the filament and a step of indirect heating of the thermosetting resin by heat conduction from the filament.