The composite materials are well known by their excellent combination of high structural stiffness and low weight. The main feature of these anisotropic materials is their ability to be tailored for specific applications by optimizing design parameters such as stacking sequence, ply orientation and performance targets. Finding free torsional vibrations characteristics of laminated composite beams is one of the bases for designing and modeling of industrial products. With these requirements, this work considers the free torsional vibrations for laminated composite beams of doubly symmetrical cross sections. The torsional vibrations of the laminated beams are analyzed analytically based on the classical lamination theory, and accounts for the coupling of flexural and torsional modes due to fiber orientation of the laminated beams are neglected. Also, the torsional vibrations of the laminated beams analyzed by shear deformation theory in which the shear deformation effects are considered. Numerical analysis has been carried out using finite element method (FEM). The finite element software package ANSYS 13.0 is used to perform the numerical analyses using an eight-node layered shell element to describe the torsional vibration of the laminated beams. The rotary inertia and shear deformation effects of the element are taken. The influence of fiber directions and stacking sequences of laminates on torsional natural frequencies were investigated. Also, the effects of boundary conditions are demonstrated. Numerical results, obtained by the ANSYS 13.0, classical lamination theory, and shear deformation theory are presented to highlight the effects of fibers orientation and layers stacking sequence on torsional frequencies of the beams. The results obtained by ANSYS are compared against the classical lamination theory, as well as shear deformation theory.