The isothermal crystallization process, kinetics, melting behavior and equilibrium melting point of bio-based semi-aromatic high-temperature polyamide PA5T/56 were studied in detail by differential scanning calorimetry. The results showed that the crystallization properties of PA5T/56 are strongly dependent on temperature, with increases in isothermal crystallization temperature, the crystallization process becomes longer and the crystallization speed slows down. The isothermal crystallization process and kinetics were analyzed by Avrami equation, the Avrami index (n value) is between 1. 84 and 2. 41, it is speculated that the growth mode of the crystal is the coexistence of one-dimensional needle growth and two-dimensional sheet growth, which is confirmed by two-dimensional small angle X-ray scattering instrument and field emission scanning electron microscope. At the same time, according to Turnbull–, Fisher equation, it is reasonable to use Arvami equation to treat the isothermal crystallization process of PA5T/56. According to Hoffman–, Weeks theory, the equilibrium melting point of PA5T/56 raises with the increase in PA5T content. The isothermal crystallization activation energy of PA5T/56 was calculated by Arrhenius equation, and the kg value of PA5T/56 was calculated by Lauritzen–, Hoffman equation, both of them increase first and then decrease with the increase in PA5T content. Therefore, the study on the crystallization mechanism and crystal formation process of PA is of great significance for controlling the crystallinity of semi-crystalline polymers to obtain the required performance.