The experimental study of single point incremental forming (SPIF) of a thermoplastic matrix composite (TMC) was presented in this research. The TMC’s matrix was built of polyamide (PA) 6.6, and the reinforcement was 30 wt percent short glass fiber (GF). The TMC was manufactured by hot pressing PA/30 wt percent GF granules to a thickness of 1.5 mm. The impact of SPIF process variables such as forming temperature (60°C–120°C), spindle speed (500 rpm–3000 rpm), wall angle (30°–60°), and step size (0.5 mm–1.5 mm) on forming depth and shrinkage owing to cooling were investigated. The findings revealed that the wall angle is the most effective parameter on TMC forming depth and shrinkage. Furthermore, TMC showed a significant percentage of shrinkage when it is cooled (up to 83.6% of shrinkage).