Prostheses made from ceramic materials have the advantages of producing little debris and having good durability, compared with those made from metal and plastic. For example, hip prostheses require a porous external area that allows their fixation by means of osseointegration and a solid internal area that will be in contact with the femoral head. The manufacturing of complex ceramic shapes, by means of machining processes, for example, is complicated and can lead to breakage of the parts because of their fragility. The direct ink writing (DIW) process allows the printing of ceramic pastes into complex shapes that achieve their final strength after a heat treatment operation. This paper studies both the dimensional error and surface finish of porous zirconia prismatic parts prior to sintering. The variables considered are infill, layer height, printing speed, extrusion multiplier and bed temperature. The responses are the dimensional error of the lateral walls of the samples and an areal roughness parameter, the arithmetical mean height, Sa. Mathematical models are found for each response, and multiobjective optimization is carried out by means of the desirability function. The dimensional error depends mainly on the interaction between layer height and infill, while the roughness on the interaction between infill and printing speed. Thus, infill is an important factor for both responses. In the future, the behavior of compact printed parts will be addressed.