Nanotubes have attracted considerable attention due to their unique 1D hollow structure; however, the fabrication of pure nanotubes via block copolymer self-assembly remains a challenge. In this work, the successful preparation of core-shell-corona (CSC) nanotubular micelles with uniform diameter and high aspect ratio is reported, which is achieved via self-assembly of a poly (styrene-b-4-vinyl pyridine-b-ethylene oxide) triblock terpolymer in binary organic solvents with assistance of solution thermal annealing. Via direct visualization of trapped intermediates, the nanotube is believed to be formed via large sphere-large solid cylinderical aggregates-nanotube transformations, wherein the unique solid to hollow transition accompanied with the unidirectional growth is distinct from conventional pathway. In addition, by virtue of the CSC structure, gold nanoparticles are able to be selectively incorporated into different micellar domains of the nanotubes, which may have potential applications in nanoscience and nanotechnology.