Poly(lactic acid) (PLA)-based composites were prepared by blending PLA with precipitated barium sulfate (BaSO4) modified with stearic acid. The morphologies, mechanical properties and thermal stability of samples with increased mass fraction of BaSO4 were investigated. Results showed that PLA was toughened and reinforced simultaneously by incorporation of precipitated BaSO4 particles. The highest impact toughness and elongation at break were both achieved at 15% BaSO4, while the elastic modulus increased monotonically with increasing BaSO4 loading. Little effect of BaSO4 on the thermal behavior of PLA was observed in the present case. However, the thermal stability of PLA/BaSO4 composites at high temperature was enhanced.