There is provided a forming system for forming a contoured composite structure having a complex curved configuration. The forming system includes a receiving station having a receiving assembly to receive a composite charge to be formed. The forming system includes a forming station having a forming assembly. The forming assembly includes a gantry assembly, an upper die assembly movably coupled to the gantry assembly, a lower die assembly coupled to a floor support beam positioned between the gantry assembly, and one or more pick-and-place devices movably coupled to the gantry assembly. The upper die assembly is separate from, and independently movable with respect to, the lower die assembly. The pick-and-place device(s) are designed to move the composite charge, and the contoured composite structure. The forming system includes a tray station having a tray assembly designed to receive the contoured composite structure from the forming station.