We elucidate the possibility of nitrogen-doped carbon nanotube as a robust catalyst for CO oxidation. We have performed first-principles calculations considering the spin-polarization effect to demonstrate the reaction of CO oxidation catalyzed by the nitrogen-doped carbon nanotube. The calculations show that O₂ species can be partially reduced with charge transfer from the nitrogen-doped carbon nanotube and directly chemisorbed on the C–N sites of the nitrogen-doped carbon nanotube. The partially reduced O₂ species at the C–N sites can further directly react with a CO molecule via the Eley–Rideal mechanism with the barriers of 0.45–0.58 eV for the different diameter of nanotube. Ab initio molecular dynamics (AIMD) simulations were performed and showed that the oxidation of CO occurs by the Eley–Rideal mechanism. The relationship between the curvature and reactivity of the nitrogen doped carbon nanotube was also unraveled. It appears that the barrier height of the rate-limiting step depends on the curvature of the nitrogen-doped carbon nanotube in the trend of (3,3)-NCNT < (4,4)-NCNT < (5,5)-NCNT (decreases with increased curvature). Using this relationship, we can predict the barriers for other N-doped carbon nanotubes with different tube diameters. Our results reveal that the nitrogen doped carbon nanomaterials can be a good, low-cost, and metal-free catalyst for CO oxidation.