We report the fabrication of flexible membranes with semiconductor nanostructures which consist of three major steps: (i) self-catalyzed growth of GaP nanowires by molecular beam epitaxy, (ii) nanowire encapsulation in specifically designed polymer (iii) preparation of flexible contacts made of single-wall carbon nanotubes. The obtained nanostructures have potential applications in high quality flexible inorganic optoelectronic devices.