Single-walled carbon nanotubes are a new generation of transparent conductive materials. They have many special optical, electrical, and mechanical properties and can be widely used in many fields. In this paper, single-walled carbon nanotubes were prepared by arc method and further integrated with polymethyl methacrylate (PMMA) tubular waveguides. The terahertz transmission spectral characteristics of single-walled carbon nanotubes based on tubular waveguides were experimentally and simulated. The results show that single-walled carbon nanotubes can enhance the terahertz resonance of a tubular waveguide and increase the resonance extinction ratio effectively. Graphene and carbon black have little effect on the terahertz transmission spectrum of the tubular waveguide. Single-wall carbon nanotube-assisted integrated devices can be widely used in future terahertz science and technology.