Research interest in three-dimensional (3D) printing has been greatly aroused since 1990 due to its outstanding merits, such as freedom of design, mass customization, waste minimization and fast prototyping complex structures. To formally elaborate the research status of the 3D printing field, a bibliometric analysis is applied to evaluate the related publications from 1990 to 2020 based on the Science Citation Index Expanded database and Social Science Citation Index database. The overview with detailed discussions is cataloged by keywords, citation, h-index, year, journal, institution, country, author, patent and review. The statistical results show that the United States plays a dominant role in this research field, followed by China and the UK. Singapore is the most productive country with the highest average citations per publication (ACPP), and the second most cooperative country. Among all the institutions, Chinese Academy of Sciences is most productive, and Harvard University has the highest ACPP and h-index. Among all the journals, Materials ranks first in the number of publications in this field. The most attractive research area is “Materials science, Multidisciplinary”, with 4053 publications. Moreover, the major hot topics derived from authors’ keywords are “3D printing”, “additive manufacturing” and “tissue engineering”. Commercial and medical applications appear to be the initial driving force and end goal for the development of the 3D printing technology.