Poly(lactic acid) (PLA)‐β‐cyclodextrin (β‐CD) inclusion complexes (PLA‐ICs) were synthesized by ultrasonic coprecipitation with β‐CD and PLA. Furthermore, vermiculite‐PLA‐ICs (VMT‐PLA‐ICs) were synthesized with VMT and PLA‐ICs by a coupling method. Orthogonal experimental analysis exhibited that the optimum preparation conditions of VMT‐PLA‐ICs were as follows: reaction temperature of 60°C, reaction time of 3 h, dosage of coupling agent of 2 wt%, and a mass ratio of VMT and PLA‐ICs of 1:6. PLA/VMT‐PLA‐ICs nanocomposites were prepared with PLA and VMT‐PLA‐ICs by melt blending. Compared with pure PLA, the tensile strength, impact strength, and elongation at break of PLA/VMT‐PLA‐ICs (0.3 wt%) nanocomposites were increased by 8.67%, 54.90%, and 25.67%, respectively. Differential scanning calorimetric curves showed that the addition of VMT‐PLA‐ICs (0.3 wt%) increased the crystallinity of PLA to 34.46% compared with the crystallinity of pure PLA (4.67%). Due to the addition of VMT‐PLA‐ICs, the creep resistance and dimensional stability of PLA/VMT‐PLA‐ICs nanocomposites were improved, and the creep recovery deformation of PLA4 reached from 4.66% to 10.31%.