Today, it is already foreseeable that additive manufacturing of mortar and concrete has groundbreaking potential and will revolutionize or at least fundamentally change the way we build. In recent years, 3D concrete printing (3DCP) with extrusion-based deposition methods has been pushed forward by a growing research community. Albeit being regarded one of the most promising innovations in construction industry, a consistent characterization methodology for assessing the constitutive behavior of 3D printed, hardened cementitious materials is missing, so far, which hinders its widespread use in engineering practice. The major objective of this paper is to fill this gap by developing a new experimental framework that can thoroughly describe the mechanical properties of 3D printed cementitious materials. Based on both a review of state-of-the-art test setups and a comprehensive experimental campaign, the present paper proposes a set of easy-to-use experimental methods that allow us to assess flexural, tensile, shear and compressive strength as well as fracture energy of 3D printed concretes and mortars in a reliable and reproducible manner. The experimental results revealed anisotropic material behavior for flexural, tensile, shear and compressive loading. Furthermore, they confirm that interval time (time gap between deposition of subsequent layers) has a crucial effect on investigated material properties leading to a severe reduction in strength and fracture energy for longer interval times.