Ti–6Al–4V alloy is widely used as a biomaterial for hard tissue replacement, but its Young’s modulus is still higher than that of human bone tissue, which may cause a “stress shielding” effect and lead to implant loosening. In addition, metal implants with low magnetic susceptibility are beneficial for obtaining minimal artifacts in magnetic resonance imaging. To reduce Young’s modulus and magnetic susceptibility of Ti–6Al–4V alloy, a series of irregular prismatic porous structure models were designed based on the Voronoi principle, built by changing the irregularity, prism-diameter-to-initial-seed-spacing ratio, and seed number, and studied using finite-element analysis. Porous samples were prepared by selective laser melting and subjected to a compression test and magnetic susceptibility test. The simulation results show that the prism-diameter-to-initial-seed-spacing ratio has the greatest impact on porosity compared with the irregularity and seed number. The simulation-predicted porosity and compression modulus are highly consistent with the measured ones. The irregular prismatic porous Ti–6Al–4V samples exhibit mechanical properties similar to those of human bones and show a magnetic susceptibility of no more than 50% that of compact Ti–6Al–4V. A regulatable irregular prismatic porous structure is feasible for designing porous implants with desirable properties for biomedical applications.