Abstract: Inspired by natural healing processes, a variety of synthetic self-healing materials have been developed, including fiber reinforced polymer (FRP) composites. Therefore, self-healing FRP composites have recently become a focus in the fields. This paper considers the development of autonomic self-healing on glass fiber reinforced polymer (GFRP). Vascularised GFRP was prepared from glass fiber SW280A reinforced epoxy 3218 by removing Nylon fibers after curing. A homemade ambient-curable healing resin formation (diglycidyl ether of bisphenol-A/aliphatic amine) epoxy system has been used as a self-healing agent. It was demonstrated that the post-impact compression strength recovery of the self-healing GFRP by ultrasonic C scan, micro-X-ray computer tomography (μ-CT). In this study, a autonomous, stimulus triggered, self-healing system in GFRP composites was established. Vascules were used as sensing pathway, which detected the introduction of ply delaminations and matrix microcracks following from 6.7 J/mm to 10.0 J/mm low-velocity impact events. Once connectivity between the sensing vascules and microcracks open to the ambient environment is established, the delivery of a healing agent to the damage zone is triggered. Two kinds of samples were prepared with vascules orientation which is parallel and transverse to the 0° orientation, respectively. In both samples, the damages were connected with the vascules following low-velocity impact events. The healing agents flowed into damage position and then the samples would be healed. Using this autonomous healing approach, near full recovery of post-impact compression strength (211 MPa) was achieved compared with compression after impact (202 MPa). The successful implementation of this bioinspired technology could substantially enhance the integrity and reliability of aerospace structures, whilst it would offer benefits through improving performance/weight ratio and extending lifetime.