A manufacturing method of continuous fiber-reinforced thermoplastic resin pellets manufactured by letting a long reinforcing fiber bundle be impregnated with molten thermoplastic resin and pultruding the resin-impregnated reinforcing fiber bundle with twisting, followed by cutting of a rod-shaped composition formed of the twisted resin-impregnated reinforcing fiber bundle by a specific length, wherein: a bundle of mono-filament fibers having a diameter of 4 to 30 μm is used as the reinforcing fiber bundle; the number of the mono-filament fibers is set so that the reinforcing fiber bundle is impregnated with the molten thermoplastic resin for a volume filling ratio V f, expressed in percentage terms, which is a proportion of a cross section area of the reinforcing fiber bundle in a cross section area of a rod-shaped composition cross section in a direction perpendicular to a rod-shaped composition longitudinal direction, to fall within a range of 70% to 20%; the resin-impregnated reinforcing fiber bundle is pultruded with twisting by setting a twisting angle so that a twisting pitch P given by P = L/d, where L is a traveling length of a twist in the rod-shaped composition longitudinal direction per rotation of the rod-shaped composition, and d is a diameter of a circle comparable to an area of the rod-shaped composition cross section, falls within a range of 2.5 to 36; and the method is characterised by setting the twisting angle so that when the volume filling ratio V f satisfies 70% ≥ V f > 50%, a ratio A f in the rod-shaped composition cross section, which is a ratio of an area inside a virtual line enclosing an outermost peripheral portion of the reinforcing fiber bundle within the rod-shaped composition cross section to an area of the rod-shaped composition cross section, is in a range given as (1.8V f - 0.01V f 2) % ≤ A f ≤ 95%, and when the volume filling ratio V f satisfies 50% ≥ V f ≥ 20%, the ratio A f is in a range given as (2.3V f - 0.02V f 2) % ≤ A f ≤ 95%; and in that: the twisting angle is set so that when the volume filling ratio V f satisfies 70% ≤ V f > 50%, the twisting pitch P is in a range given as 2.5 ≤ P < 6.0, and when the volume filling ratio V f satisfies 50% ≥ V f ≥ 20%, the twisting pitch P is in a range given as 6.0 ≤ P ≤ 36. a bundle of mono-filament fibers having a diameter of 4 to 30 μm is used as the reinforcing fiber bundle; the number of the mono-filament fibers is set so that the reinforcing fiber bundle is impregnated with the molten thermoplastic resin for a volume filling ratio V f, expressed in percentage terms, which is a proportion of a cross section area of the reinforcing fiber bundle in a cross section area of a rod-shaped composition cross section in a direction perpendicular to a rod-shaped composition longitudinal direction, to fall within a range of 70% to 20%; the resin-impregnated reinforcing fiber bundle is pultruded with twisting by setting a twisting angle so that a twisting pitch P given by P = L/d, where L is a traveling length of a twist in the rod-shaped composition longitudinal direction per rotation of the rod-shaped composition, and d is a diameter of a circle comparable to an area of the rod-shaped composition cross section, falls within a range of 2.5 to 36; and the method is characterised by setting the twisting angle so that when the volume filling ratio V f satisfies 70% ≥ V f > 50%, a ratio A f in the rod-shaped composition cross section, which is a ratio of an area inside a virtual line enclosing an outermost peripheral portion of the reinforcing fiber bundle within the rod-shaped composition cross section to an area of the rod-shaped composition cross section, is in a range given as (1.8V f - 0.01V f 2) % ≤ A f ≤ 95%, and when the volume filling ratio V f satisfies 50% ≥ V f ≥ 20%, the ratio A f is in a range given as (2.3V f - 0.02V f 2) % ≤ A f ≤ 95%; and in that: the twisting angle is set so that when the volume filling ratio V f satisfies 70% ≤ V f > 50%, the twisting pitch P is in a range given as 2.5 ≤ P < 6.0, and when the volume filling ratio V f satisfies 50% ≥ V f ≥ 20%, the twisting pitch P is in a range given as 6.0 ≤ P ≤ 36. the twisting angle is set so that when the volume filling ratio V f satisfies 70% ≤ V f > 50%, the twisting pitch P is in a range given as 2.5 ≤ P < 6.0, and when the volume filling ratio V f satisfies 50% ≥ V f ≥ 20%, the twisting pitch P is in a range given as 6.0 ≤ P ≤ 36.