The invention discloses a self-repairing fiber reinforced polymer matrix composite and a preparation method thereof. In the method, a double-capsule repairing system respectively containing epoxy resin prepolymer and curing agent is evenly mixed into a resin matrix, then, the matrix curing agent and catalyst are added to be evenly mixed, the obtained mixture is used for dipping fiber reinforcing material, and at last, the self-repairing fiber reinforced polymer matrix composite is obtained by solidifying and shaping. When the self-repairing composite of the invention generates cracks or fiber unsticking damage owing to heat, force, environment corrosion and the like during processing, storing and using process, cracks pass through a restorative capsule which cracks along with the matrix to release reacting substance and quickly polymerize, thus preventing crack from expanding, repairing crack damage, keeping the mechanical property of the composites and prolonging the service life thereof. The self-repairing composite prepared by the invention can automatically finish repairing cracks at the temperature of negative 50-250 DEG C, and the repairing process totally needs no artificial intervention.