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[Display omitted] • PLA/TPU filament for 3D printing was obtained by a screw extruder. • Continuous carbon fiber reinforced PLA/TPU honeycomb structure was prepared. • The self-sensing of strain and damage during cyclic compression was investigated. • The self-sensing of temperature change of honeycomb structure was achieved. Polylactic acid/thermoplastic polyurethanes (PLA/TPU) filament for 3D printing was prepared by screw extruder, and continuous carbon fiber-reinforced PLA/TPU honeycomb structure was fabricated by continuous fiber 3D printer, and the self-sensing performance of the structure during cyclic compression was investigated. The results show that the strain and damage can be sensed by the change of electrical resistance in the honeycomb structure during cyclic compression at small-strain (ε = 0.04) and large-strain (ε = 0.4). Meanwhile, the temperature monitoring of the honeycomb structure can be realized by the change of electrical resistance in the honeycomb structure. This study provides the possibility for developing and applying 3D printed continuous carbon fiber composite smart structures and structural health monitoring. [ABSTRACT FROM AUTHOR]