3D printing based on additive manufacturing has attracted widespread attention in the fields of microbiology and microelectronics due to its advantages of waste reduction, arbitrary manufacturing, and rapid prototyping in potential applications. These techniques can create structures at the centimeter scale, however, there are some limitations in terms of resolution and geometric constraints. Here, a micro–nano 3D printing protocol based on additive manufacturing to achieve the 3D structure (3DS) not only possessing millimeter scale structural dimensions but also nanometer features are proposed. A theory is verified to assist the design and fabrication of the 3DS with millimeter scale and nanometer precision. The structures are predesigned and the scanning strategy is optimized before 3D printing to improve the manufacturing efficiency and precision. A customized 3DS with a height of 2.2 mm is obtained, which is a challenge for the conventional two‐photon polymerization fabrication. Furthermore, a 1.2 mm 3DS with inside scaffold and smooth surface is efficiently achieved within 2.7 h with a nanometer surface roughness by using the proposed stepwise optimized 3D printing process. This study offers a flexible and low‐cost technology to generate highly customizable, precisely controllable 3DS for potential applications in microelectronics and microdevices.