The 3D printing of continuous-fiber composites is currently relevant to engineers and researchers. This study aims to characterize and predict the mechanical properties of Onyx/glass fiber specimens printed using 3D printing. The work assesses the impact of glass fiber printing parameters on the mechanical behavior of printed parts and proposes analytical and numerical methods to predict mechanical properties. A physicochemical analysis was conducted on 3D printed continuous glass fibers. The study also investigated the impact of fiber printing parameters on composite parts. The results indicate that the 3D-printed glass fibers consist of nylon, continuous glass fibers, and voids (porosity), which range from 58% to 63%, 31% to 38%, and 5% to 8%, respectively. Mechanical characterizations indicate that printing fiber layers in blocks results in superior mechanical properties compared to printing alternating layers of glass fibers and Onyx. Additionally, the concentric mode of fiber printing can be challenging if the ‘start rotation’ parameter is not adjusted correctly. Premature specimen breakage occurred when fiber printing began within their useful length, resulting in a deformation at break that was approximately 34% less, depending on the starting position. The proposed analytical and numerical prediction methods had prediction errors of approximately 7% to 12% and 5% to 7%, respectively. Engineers can use these prediction approaches during the dimensioning phase of 3D printed composite parts.