The main focus of the study is the determination of residual stresses developed in thermoplastic composites during tape placement. An experimental characterization of the residual stresses is carried out and based on the measurement of the curvature variation with temperature for unsymmetrical laminates. The tested plates are made of APC-2 and processed on the SPIDE-TP, a filament winding machine based in Cetim, France. A thermo-mechanical model based on the modified laminate theory is used in this work. Heat transfer and crystallization are taken into account in the model, allowing the description of the evolution of the mechanical properties of the composite during the whole process. The model is able to predict the residual stresses present at the end of the process. The results showed stress gradients through the thickness of the laminates where the transverse residual stresses can reach up to 20 MPa. In addition, the results showed that increasing the mandrel temperature reduces the crystallization and thermal gradients in the laminate thickness.