We investigate theoretically the nonequilibrium transport properties of carbon nanotube quantum dots. Owing to the two-dimensional band structure of graphene, a double orbital degeneracy plays the role of a pseudospin, which is entangled with the spin. Quantum fluctuations between these 4 degrees of freedom result in an SU(4) Kondo effect at low temperatures. This exotic Kondo effect manifests as a four-peak splitting in the nonlinear conductance when an axial magnetic field is applied.