Wearable electrochromic devices are considered as the essential components for the development of smart clothing with the intelligent sensing, actuating, and displaying functions. In this study, the electrochromic composite flexible membranes of polyaniline (PANI) and reduced graphene oxide (RGO) were fabricated by in situ polymerization of aniline monomer in the presence of RGO dispersion. The effects of RGO concentration on the morphology, chemical structure, crystallinity, and electrochromic behavior of the composite membranes were studied. Our experimental results show that the conductivity of PANI/RGO composite membrane increases with the increasing of RGO concentration from 0.1 to 0.25 wt%, and the highest conductivity is 3.57 S/cm. An improved electrochemical performance with good electrochromic cycle characteristic of the PANI/RGO composite can be obtained, which shows a wide color range from green to black compared with the PANI membrane that ranging from green to dark blue. This research provides a systematical investigation of flexible PANI-based electrochromic membrane, which has the potential application in the field of wearable electrochromic devices in the future.