The invention relates to a fiber-enhanced aerogel-polymer composite material and a preparation method thereof. Fiber-enhanced aerogel is taken as a reinforcement material, and polymer is taken as a substrate and fills a three-dimensional nanometer hole structure of aerogel to form a composite material having a structure of interlacing polymer with a nanometer three-dimensional network of aerogel. The polymer-based composite material has improved thermal resistance, wear resistance, aging resistance, compression strength, impact resistance, and fracture resistance, and is improved in or endowed with features with the respect to sound, light, electricity, magnetism and heat. The method is simple and easy in technical process and beneficial for industrial massive production, and can promote upgrading of conventional polymer-based composite material industry. The fiber-enhanced aerogel-polymer composite material has high application value in the fields of national defense and military, space and aeronautics, high-speed trains, ships and vessels, automobiles, leisure sports, offshore oil and gas fields, wind power generation, electrician electric power insulation, bulletproof and anti-explosion area, mechanical electric appliances and buildings.