In this study, carbon nanotubes (CNTs) were grown under the same conditions as those of carbon fibers and glass fibers, and a comparative analysis was performed to confirm the potential of glass fibers with grown CNTs as electromagnetic interference (EMI) shielding materials. The CNTs were grown directly on the two fiber surfaces by a chemical vapor deposition process, with the aid of Ni particles loaded on them via a Ni-P plating process followed by heat treatment. The morphology and structural characteristics of the carbon and glass fibers with grown CNTs were analyzed using scanning electron microscopy–energy dispersive X-ray spectroscopy (SEM–EDS), X-ray diffraction (XRD), and X-ray photoelectron spectrometry (XPS), and the EMI shielding efficiency (EMI SE) of the directly grown CNT/carbon and glass fiber-reinforced epoxy matrix composites was determined using a vector-network analyzer. As the plating time increased, a plating layer serving as a catalyst formed on the fiber surface, confirming the growth of numerous nanowire-shaped CNTs. The average EMI SET values of the carbon fiber-reinforced plastic (CFRP) and glass fiber-reinforced plastic (GFRP) with grown CNTs maximized at approximately 81 and 40 dB, respectively. Carbon fibers with grown CNTs exhibited a significantly higher EMI SET value than the glass fiber-based sample, but the latter showed a higher EMI SET increase rate. This indicates that low-cost, high-quality EMI-shielding materials can be developed through the growth of CNTs on the surface of glass fibers.