Dense and porous zirconia ceramics were 3D printed with granular feedstock and screw extrusion mechanism on the basis of the traditional fused deposition method. The printability of granular feedstock, microstructure of the body and mechanical properties of ceramic materials were studied. The unsupported structure with maximum inclination 165° and span 5.5 mm were obtained. Effects of the two filling modes of printing on the flexural strength and Weibull modulus of the dense zirconia ceramics were compared. The results showed that the “single line+rectangle” filling mode was more conducive to achieve higher density and better mechanical properties than the traditional single line filling mode. Materials with bending strength of 637.8 MPa and Weibull modulus of 9.1 were obtained. The compressive behavior of porous zirconia ceramics prepared with different porosities were studied, showing an exponential law between compressive strength and porosity. There was only elasticity stage on the stress-strain curve for the samples with high porosity, while collapse stage may appear for the samples with low porosity. There was no collapse stage for both samples.