Piezoelectric ceramics are widely applied in fields such as medical imaging, acoustic sensors, acoustic transducers, and ultrasonic motors due to their piezoelectricity, dielectric properties, and elasticity. With the development of electronic devices toward miniaturization and portability, the market demand for small piezoelectric ceramics with complex geometries is gradually increasing. Piezoelectric ceramics manufactured by traditional technology can exhibit good piezoelectric properties, but there are still challenges in manufacturing complex structures. Additive manufacturing technology is a kind of advanced manufacturing technology based on three-dimensional model data and the use of material layer by layer to directly manufacture solid parts. Compared with traditional manufacturing technology, additive manufacturing technology does not require molds, can be designed according to the shape of the device and through the 3D digital model directly manufacturing solid parts, realizing the parts “free manufacturing”, solving the forming problem of many complex structural parts, and greatly reducing the processing procedures, shortening the processing cycle. This paper summarizes the current development of additive manufacturing technology to manufacture piezoelectric ceramics, introduces the progress of piezoelectric ceramics in the field of application, and the research direction and prospects of additive manufacturing piezoelectric ceramic technology at the current stage were discussed.