The invention discloses an aerial tube-shaped carbon fiber composite rod piece and a manufacturing method thereof. The rod piece is a tube-shaped structure made from a composite material formed by mixing and weaving high-modulus and low-modulus fibers, wherein the fiber weaving manner is longitudinal arrangement in bearing direction and transverse reinforcement in nonbearing direction. The rod piece comprises two bearing components and metal shaft sleeves, wherein the two bearing components are arranged fixedly, closely adjacently and side by side; the two ends of each bearing component are respectively provided with an ear part; the metal shaft sleeves are embedded in the ear parts; the metal shaft sleeves are in shape of a water drop. According to the rod piece disclosed by the invention, the water-drop-shaped metal shaft sleeves are beneficial to tensile loading and also beneficial to compression-resistance unloading, so that a pull rod can greatly uniformly distribute the load on the carbon fiber composite material when bearing the pressure. The manufacturing method disclosed by the invention is simple and convenient, the provided rod piece has the characteristics of resistance to high-altitude low temperature of -55 DEG C, resistance to ground high temperature of 45 DEG C, resistance to huge tension/pressure of 100 tons, vibration resistance, large torque resistance, no deformation, ultra high rigidity and strength, light dead weight and the like, and the provided rod piece can be taken as key bearing parts on spacecrafts.