Color 3D printing has widely affected our daily lives; therefore, its precise control is essential for aesthetics and performance. In this study, four unique test plates were printed using powder-based full-color 3D printing as an example; moreover, the corresponding pigment-penetration depth, chromaticity value and image-based metrics were measured to investigate the lateral pigment penetration characteristics and relative surface-color reproduction of each color patch, and to perform an objective analysis with specific microscopic images. The results show that the lateral pigment-penetration depth correlates with the number of printed layers on the designed 3D test plates, and the qualitative analysis of microscopic images can explain the change in chromaticity well. Meanwhile, there is an obvious linear correlation between the mean structural similarity, color-image difference and color difference for current color samples. Thus, our proposed approach has a good practicality for powder-based color 3D printing, and can provide new insight into predicting the color-presentation efficiency of color 3D-printed substrates by the abovementioned objective metrics.