Geometrical non-linearity is one of the aspects to be taken into account for accurate analysis of fibre reinforced polymers (FRPs), since large displacements and rotations may be observed in many of its structural applications such as in aircraft wings and wind turbine blades. In this paper, a co-rotational formulation and implementation of an invariant-based anisotropic plasticity model are presented for geometrically non-linear analysis of FRPs. The anisotropic constitutive equations are formulated in the format of isotropic tensors functions. The model assumes an anisotropic pressure-dependent yield function, and in addition to this, a non-associated plastic potential function in order to model realistic plastic deformations in FRPs. The formulation is then cast in the co-rotational framework to consider the geometrical non-linear effects in an efficient manner. The developed model is implemented in the commercial finite element (FE) software ABAQUS/Implicit via the means of the user-defined material subroutine (UMAT). The kinematics within the co-rotational frame is explained briefly while the important aspects regarding the numerical treatment and implementation are discussed in detail. Representative numerical examples at different scales are presented to demonstrate the applicability and robustness of the proposed development.