The present invention discloses a one-section type composite material vehicle transmission shaft preparation method, wherein the vehicle transmission shaft comprises a cross type universal joint and a cage type universal joint, the cross type universal joint and the cage type universal joint are respectively connected with both ends of a composite material pipe having inner threads, the cross type universal joint is connected with a vehicle power system, the cage type universal joint is connected with a rear bridge system by using a flange form, the composite material pipe is prepared through an outer thread mold provided with a spiral groove, and the cross type universal joint and the cage type universal joint are connected on both ends of the composite material pipe to prepare the vehicle transmission shaft. According to the present invention, the advantage that the natural frequency of the composite material-made transmission shaft is higher than the natural frequency of the steel-made transmission shaft is completely provided, and the composite material transmission shaft has characteristics of extremely high fatigue resistance, extremely high static torsional strength and the like, can meet the requirements of the vehicles on the transmission shaft length and angle changing during the movement process, and can be applied in passenger vehicles, trucks, commercial vehicles, sport utility vehicles, and other fore-laying rear-drive vehicles.