One of the most significant problems in the processing of composite materials is residual stress. The high residual stress may cause cracking in the matrix without external loads and degrade the integrity of composite structures. In this study, thermo-viscoelastic residual stresses occurred in an aluminum liner-inserted polymer composite cylinder are investigated. This type of the structure is used for rocket fuselage due to the convenience to attach payloads and equipment to the metal liner by machining. The time and degree of cure dependent thermo-viscoelastic constitutive equations are developed and coupled with a thermo-chemical process model. These equations are solved with the finite element method to predict the residual stresses in the composite cylinder and also in the interface between the liner and the composite during cure.