The outstanding diffusivity and permeability of supercritical carbon dioxide (scCO2) are extremely beneficial for grafting reaction. In this work, aramid fibers (AF) are modified in scCO2 by glycidyl-polyhedral oliomeric silsesquioxane (POSS) with 2-ethyl-4-methylimidazole (2E4MZ) on the basis of cleaning with acetone. The surface morphology and chemical structure of the modified AF were measured and characterized by Fourier transform infrared spectroscopy (FTIR), X-ray photoelectron spectroscopy (XPS), Scanning electron microscope (SEM), Thermogravimetric (TG), and Atomic force microscope (AFM). The interfacial shear strength (IFSS) was measured by a micro-bond pull-out test, then the modified AF/EP composites were prepared and the interlaminar shear strength (ILSS) was characterized. Research has shown that some of the glycidyl-POSS molecular chains permeated into the surface of the fiber and grafted onto the surface of the AF after modification, and the other glycidyl-POSS self-assembled on the surface of the fiber. XPS indicated the introduction of C–O and –COO–, which confirmed the existence of chemical reactions between AF and glycidyl-POSS. AFM and SEM images revealed that 2E4MZ, not only promoted the grafting reaction of glycidyl-POSS, but also intensified the self-assembly of glycidyl-POSS, both of which increased the roughness of the fiber. A monofilament tensile test and micro-bond pull-out test showed that there was a negative effect on the tensile strength after scCO2 processing. The tensile strength of modified AF, with glycidyl-POSS, increased the highest strength of 25.7 cN dtex−1, which was 8% higher than that of pristine AF. The improvement of ILS roughness and the polar chemical groups produced in grafting reaction. These results indicated that AF, treated in scCO2, with glycidyl-POSS, which is a suitable way of fiber modification, can significantly improve the surface adhesion of AF reinforced composites.