Structure development during drawing was studied for three sets of polyamide‐66 (PA66) fibers with density, optical microscopy, wide‐angle X‐ray diffraction, and Fourier transform infrared spectroscopy. The crystallinity, estimated by density measurements, remained virtually constant with increasing draw ratios, indicating that stress‐induced crystallization did not occur for the PA66 fibers drawn at room temperature, but there was a rapid transformation from a hedrite morphology to a fibrillar one. The absence of stress‐induced crystallization differed from the behavior of polyamide‐6, and this was attributed to the stronger hydrogen bonding between polyamide chains and the higher glass‐transition temperature of PA66. Polarized infrared spectroscopy was used to measure the transition‐moment angles of the vibrations at 936 and 906 cm−1, which were found to be 48 and 60°, respectively. The crystalline orientation was estimated from the band at 936 cm−1, and the increase with an increasing draw ratio was in close quantitative agreement with X‐ray diffraction data; this showed that infrared spectroscopy could be used reliably to measure the crystalline orientation of PA66 fibers. Because we were unable to obtain the transition‐moment angle of the amorphous bands, the amorphous orientation was obtained with Stein's equation. The amorphous orientation developed more slowly than the crystalline orientation, which is typical behavior for flexible‐chain polymers. © 2002 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 40: 1940–1948, 2002