A model for 3D laminated composite beams, that is, beams that can vibrate in space and experience longitudinal and torsional deformations, is derived. The model is based on Timoshenko’s theory for bending and assumes that, under torsion, the cross section rotates as a rigid body but can deform longitudinally due to warping. The warping function, which is essential for correct torsional deformations, is computed preliminarily by the finite element method. Geometrical nonlinearity is taken into account by considering Green’s strain tensor. The equation of motion is derived by the principle of virtual work and discretized by the p‐version finite element method. The laminates are assumed to be of orthotropic materials. The influence of the angle of orientation of the laminates on the natural frequencies and on the nonlinear modes of vibration is presented. It is shown that, due to asymmetric laminates, there exist bending‐longitudinal and bending‐torsional coupling in linear analysis. Dynamic responses in time domain are presented and couplings between transverse displacements and torsion are investigated.