Two types of purl stitches (V-shaped and Z-shaped) forming auxetic self-folding knitted structures were developed based on miura-ori pattern on a computerized flat knitting machine for impact protective applications. Three kinds of yarns including polyester multifilament, aramid and low-temperature melting polyester multifilament yarns (LTMY) were used. After heat treatment with an oven, the developed fabrics become semi-rigid flexible composite materials. The Poisson’s ratios, compression and bending properties were evaluated. The negative Poisson’s ratio of Z-shaped vertical folding fabric decreased as the amount of LTMY increases. The results of V-shaped fabrics are just the inverse as that of Z-shaped fabrics. LTMY increased the compression stress, energy absorption and bending rigidity.