PLA nanocomposites with stearate coated precipitated calcium carbonate (PCC) and halloysite natural nanotubes (HNT) were prepared by melt extrusion. The crystallization behavior, mechanical properties, thermal dynamical mechanical analysis (DMTA), and the morphology of the PCC/PLA, HNT/PLA, and HNT/PCC/PLA composites were discussed. Compared to halloysite nanotubes, PCC nanoparticles showed a better nucleating effect, which decreased both the glass transition and cold crystallization temperatures. The tensile performance of PLA composites showed that the addition of inorganic nanofillers increased Young's modulus but decreased tensile strength. More interestingly, PLA composites with PCC particles exhibited an effectively increased elongation at break with respect to pure PLA, while HNT/PLA showed a decreased ultimate deformation of composites. DMTA results indicated that PLA composites had a similar storage modulus at temperatures below the glass transition and the addition of nanofillers into PLA caused to shift to lower temperatures by about 3 ∘ C. The morphological analysis of fractures surface of PLA nanocomposites showed good dispersion of nanofillers, formation of microvoids, and larger plastic deformation of the PLA matrix when the PCC particles were added, while a strong aggregation was noticed in composites with HNT nanofillers, which has been attributed to a nonoptimal surface coating.