Piezoelectric ceramic is a type of functional ceramic, which is able to convert the mechanical signal and the electronic signal mutually. Composed of piezoelectric ceramics and organic phase, piezoelectric composites have different kinds of connectivities, which not only determine the diverse applications of piezoelectric devices, but also promote the development of various shaping techniques in manufacturing piezoelectric materials and devices. In comparison with the traditional shaping methods, the most distinguishable advantage of additive manufacturing lies in its ability of quickly shaping a small batch of samples into geometrically complex designs without a mould, which makes it a highly suitable technique for investigating piezoelectric ceramics and its derivative devices in different kinds of connectivities. Meanwhile, the final additively manufactured samples require only tiny post-processing, have a high rate of utilization of the raw material and do not need cutting fluid during manufacturing. Due to the above-mentioned advantages, it attracts the widespread concerns from both academic and industrial communities. When focusing in the field of additive manufacturing ceramics, the data of scientific reports in additive manufacturing functional ceramics and devices prove that it is still in a growing period. In the perspective of different additive manufacturing techniques, this article discusses and compares additive manufacturing of both lead-free and lead-based piezoelectric ceramics in the aspects of their historical development of each technique, preparation of the raw materials, geometrical designs, measurement of functional properties, and applications of the printed samples, and forecasts the future development based on the current benefits and drawbacks of each additive manufacturing technique.