Three-dimensional (3D) printing technology has attracted significant attention for fabricating piezoelectric materials due to its high efficiency and capability to produce complex structures. Motivated by the desire to address limitations in conventional methods for fabricating piezoelectric materials, this review first introduces commonly used 3D-printing technologies to fabricate piezoelectric materials. The advantages of the technologies are evaluated. Subsequently, typical piezoelectric materials produced by 3D-printing methods are specifically discussed. The properties of the printed materials, such as dielectric and piezoelectric properties, are presented. Significant applications of 3D-printed piezoelectric materials are further explored, highlighting the potential of fabricating 3D-printed piezoelectric materials for biomedical applications. Finally, future directions and opportunities for 3D-printed piezoelectric materials are highlighted.