In this study, the fatigue behavior of polyamide 66 reinforced with short glass fibers and especially the role of glass fibers has been investigated under two kinds of cyclic loading. tension–tension fatigue tests with stress controlled and alternative flexural fatigue test with strain controlled were carried out. The main topics include microscope damage observation, described by fiber/matrix debonding and interfacial failure, endurance limit with Wohler curves, effect of self-heating temperature. For both tests, the surface temperature increases with an increasing applied load. The results show that the self-heating has an important effect in the failure point where the Wohler curves join each other. The fracture surface was analyzed by scanning electron microscope for both applied loads. The stress ratio is −1 for alternative flexural fatigue test and 0.1 and 0.3 for tension–tension fatigue test ones at frequencies ranging 2–60 Hz.