Fused Deposition Modeling (FDM) is capable of producing complicated geometries and a variety of thermoplastic or composite products. Thus, it is critical to carry out the relationship between the process parameters, the finished part’s quality, and the part’s mechanical performance. In this study, the optimum printing parameters of FDM using oil palm fiber reinforced thermoplastic composites were investigated. The layer thickness, orientation, infill density, and printing speed were selected as optimization parameters. The mechanical properties of printed specimens were examined using tensile and flexural tests. The experiments were designed using a Taguchi experimental design using a L9 orthogonal array with four factors, and three levels. Analysis of variance (ANOVA) was used to determine the significant parameter or factor that influences the responses, including tensile strength, Young’s modulus, and flexural strength. The fractured surface of printed parts was investigate using scanning electron microscopy (SEM). The results show the tensile strength of the printed specimens ranged from 0.95 to 35.38 MPa, the Young’s modulus from 0.11 to 1.88 GPa, and the flexural strength from 2.50 to 31.98 MPa. In addition, build orientation had the largest influence on tensile strength, Young’s modulus, and flexural strength. The optimum printing parameter for FDM using oil palm fiber composite was 0.4 mm layer thickness, flat (0 degree) of orientation, 50% infill density, and 10 mm/s printing speed. The results of SEM images demonstrate that the number of voids seems to be much bigger when the layer thickness is increased, and the flat orientation has a considerable influence on the bead structure becoming tougher. In a nutshell, these findings will be a valuable 3D printing dataset for other researchers who utilize this material.