The composite components with irregular shape are often used in many application areas. Normally the formation of the composite components with irregular shape is by laminated technology. However the main problem of laminated composites is that there is a pure resin area between two lays which will degrade the mechanical properties of composite components. Three dimensional (3D) integrated braided composite can overcome this problem. In this paper, the design and manufacture technology of 3D integrated braided composite support with irregular shape were researched, including: braiding technology of 3D braided preform of composite support, the determination of process parameters of resin transfer molding(RTM) for 3D braided composite support, and the design of mold for consolidation of composite support. The compress property and shear property of this composite were investigated. The maximum compress force borne by this composite support is 2.31 kN, which is more than the design value of 1.90 kN and the maximum shear force borne by this composite support is 4.48 kN, which is more than the design value of 4.10 kN. The weight of 3D braided composite support is only 60.27% of the weight of titanium support.