Abstract Biological structures combine passive shape‐changing with force generation through intricate composite architectures. Natural fibers, with their tubular‐like structures and responsive components, have inspired the design of pneumatic tubular soft composite actuators. However, no development of passive structural actuation is available despite the recent rise of 4D printing. In this study, a biomimicry approach is proposed with inspiration from natural fiber architecture to create a novel concept of thermally active 4D printed tubular metacomposites. These metacomposites exhibit high mechanical performance and 3D‐to‐3D shape‐changing ability triggered by changes in temperature. A rotative printer is proposed for winding a continuous carbon fibers reinforced PolyAmide 6.I composite on a PolyAmide 6.6 polymer mandrel in a similar manner to the structure of cellulose microfibrils within the polysaccharide matrix of natural fiber cell‐walls. The resulting 4D printed tubular metacomposites exhibit programmable rotation and torque in response to thermal variations thanks to the control of their mesostructure and the overall geometry. Energy density values representing a trade‐off between the rotation and the torque are comparable to shape memory alloys when normalized by stiffness. Finally, a proof of concept for an autonomous solar tracker is presented, showcasing its potential for designing autonomous assemblies for structure morphing.