Fused deposition modeling (FDM) is the most common method for additive manufacturing of polymers, which is expanding in various engineering applications due to its ability to make complex parts readily. The mechanical properties of 3D printed parts strongly depend on the correct selection of the process parameters. In this study, the effect of three important process parameters such as infill density, printing speed and layer thickness were investigated on the tensile properties of polylactic acid (PLA) specimens. Taguchi design of experiment method is applied to reduce the number of experiments and find the optimal parameters for maximum mechanical properties, minimum weight and minimum printing time. Experimental results showed that the optimum process parameters for the modulus of elasticity and ultimate tensile strength were infill density of 80%, printing speed of 40 mm/s and layer thickness of 0.1 mm, while for the failure strain were the infill density of 80%, printing speed of 40 mm/s and layer thickness of 0.2 mm. Finally, the accuracy of the Taguchi method was assessed for prediction of mechanical properties of FDM-3D printed specimens.