Abstract Advanced composites such as fiber-reinforced thermosetting polymer composites are currently replacing the conventionally used stainless steel, premium alloys, and carbon steels. They have also been finding increased potential for use in many high performance applications that require excellent mechanical properties because of their outstanding specific modulus and strength, light weight, good tribological properties, and flame resistance, with the caveat that the manufacturing costs involved during their development can be high. Important thermosetting polymer composites are often reinforced with glass or carbon fibers and meet certain weight reduction and high specific strength requirements, particularly those found in the aerospace, automotive, marine, ballistic armor, extreme sport, and construction industries. With such context, this chapter provides a contemporary account of glass fiber- and carbon fiber-reinforced thermosetting polymer composites based on outstanding engineering polymers, such as epoxy, phenolic, polyurethane, and polybenzoxazine, and describes the rheological, thermo-mechanical and tribological properties, and morphologies exhibited by these materials as well as their applications.