An approach for designing compliant mechanisms with glass fiber-reinforced epoxy materials is presented to obtain the optimum fiber orientation and topology structure simultaneously in this paper. Four-node hybrid stress elements and nodal design variables are adopted to suppress the islands and checkerboard phenomenon without additive filter technology and constraint. Taking fiber orientation and relative density as design variables, minimizing the weighted linear combination of the mutual strain energy and the strain energy is considered as objective function to achieve the desired deformation and enough load-carrying capacity of compliant mechanisms with the volume constraint. The displacement field of structure is obtained by the finite element analysis, and the non-linear optimization problem is solved via the well-known method of moving asymptotes. The numerical examples of designing compliant inverters and grippers with different weighted factors are investigated to demonstrate the effectiveness of the proposed method.