Continuous ultrasonic welding is a promising high-speed and energy-efficient joining technique for thermoplastic composite structures. However, in the current state-of-the-art research on the topic numerous deconsolidation voids could be identified at the welding interface, which results in a strength knock-down. The aim of this study is, therefore, to improve the quality of continuous ultrasonically welded joints by adding a consolidation shoe to the welding setup. To determine the required consolidation pressure, the size of the shoe, and its distance from the sonotrode a stepwise approach was followed based on the static ultrasonic welding process. The closest consolidation distance, best representing the static welding conditions, did not improve the weld quality as significant porosity was still found in the weld line and in the adherends. However, for the furthest consolidation distance high-quality continuous welds were obtained with almost no porosity and a high strength.