Three-dimensional (3D) printing technology has been traditionally used for the production of prototypes. Recently, developments in 3D printing using Fused Deposition Modelling (FDM) and reinforcement with continuous fibres (fiberglass and carbon fibre), have allowed the manufacture of functional prototypes, considerably improving the mechanical performance of the composite parts. In this work, we characterise the elastic tensile properties of fibre reinforced specimens, considering the variation of several parameters available during the printing process: fibre orientation, volume fraction, fill pattern, reinforcement distribution. Tensile tests were performed according to ASTM D638 to obtain Young’s modulus and ultimate strength for different material configurations available during the printing process. We also perform a fractographic analysis using Scanning Electron Microscopy (SEM) to give an insight of the failure mechanisms present in the specimens.