Surface-enhanced Raman scattering (SERS) is a spectral analysis method with high sensitivity, fast detection speed, and good accuracy, which can non-destructively detect target substances at extremely low concentrations. Therefore, SERS has important application value in environmental analysis, biomedicine, food safety, and other fields. Due to the properties of additive manufacturing, the application scope of printing technology has expanded from graphic communication to the preparation of functional devices. The substrates used in printing technology have many applications and can easily achieve large-scale fabrication. Combining printing technology with SERS substrate preparation methods is beneficial to developing low-cost batch preparation routes for SERS substrates, thereby promoting the development and application of SERS technology. Therefore, it is significant to study and summarize the printing manufacturing methods of SERS substrates. This review summarizes the progress of research on printed SERS substrates. First, the research progress of several typical SERS-active materials and their applications is introduced, such as noble metals, metal chalcogenides, metal oxides, graphene, and graphene oxide. Then, the preparation methods of printed SERS substrates are summarized. The characteristics of conventional rigid and flexible substrates, such as polymers, paper, and fibers, in printed SERS substrates are analyzed. The principles of printing processes such as gravure printing, screen printing, inkjet printing, micro-contact printing, and 3D printing are discussed, and the application of various substrates and printing processes in the printed preparation of SERS substrates is reviewed. Finally, the future research direction of printed SERS substrates is proposed. Compared with traditional device fabrication methods such as photolithography and etching, printing manufacturing is low-cost and particularly suitable for depositing materials on flexible substrates. It has obvious advantages in the large-scale batch fabrication of flexible SERS substrates. At present, there is plenty of room for the development of printed SERS substrates in both printable materials and printing manufacturing processes. In the future, it is necessary to utilize the advantages of printing technology to develop low-cost and environmentally friendly SERS substrates, and promote the popularization and application of SERS technology.