In recent years, studies that can maximize irregularity have increased as technological constraints weaken owing to the development of construction technology and the increase in demand for free-form structures. Considering this, free-form structures have been constructed using various materials. Concrete is considered most suitable for realizing an atypical shape because it is highly economical and can be assembled in a free form. However, not many studies have evaluated the structural performance of free-form concrete structures using free-form formwork 3D printer (F3D) technology, a 3D printing technology. Free-form structures must be designed to secure structural stability under both dead and live loads, as well as natural hazards such as wind, snow, and earthquakes. Therefore, in this study, we tested a free-form structure constructed by F3D printing using small-scale models that satisfy the similitude law with shaking tables. Furthermore, a finite element analysis was conducted to validate the small-scale tests. Lastly, the seismic performance of free-form concrete structures was evaluated based on the test and analysis results.