To save resources and improve energy efficiency, an efficient, economical, and environmentally friendly technology is needed to produce high-performance poly (lactic acid) (PLA). However, the poor heat resistance of PLA greatly restricts its application in packaging materials and other fields. Herein, a scalable and efficient method was developed to fabricate high-performance PLA by combining bio-based nanofibrillar reinforcing material. In-situ nanofibrillar PLA/ poly (ethylene 2,5-furandicarboxylate) (PEF) composites were successfully obtained using a fast and straightforward melt extrusion and spinning process. PEF nanofibers with a high aspect ratio were well dispersed in PLA matrix with an average diameter of 80 nm, which dramatically enhanced the rheological properties, crystallization kinetics, and dynamic mechanical properties of PLA. Unprecedently, such fully bio-renewable PLA/PEF nanofibers composites exhibited excellent heat resistance. With the addition of 3 wt% PEF, the heat resistance of PLA was significantly increased from approximately 59.6 to 157 ℃. This environmentally-friendly in-situ nanofibrillar PLA/PEF composites with high heat resistance will potentially broaden the application of PLA in areas like packaging materials and automotive interiors.