High performance hydroxyapatite (HA) ceramics with excellent densification and mechanical properties were successfully fabricated by digital light processing (DLP) three-dimensional (3D) printing technology. It was found that the sintering atmosphere of wet CO₂ can dramatically improve the densification process and thus lead to better mechanical properties. HA ceramics with a relative density of 97.12% and a three-point bending strength of 92.4 MPa can be achieved at a sintering temperature of 1300 ℃, which makes a solid foundation for application in bone engineering. Furthermore, a relatively high compressive strength of 4.09 MPa can be also achieved for a DLP-printed p-cell triply periodic minimum surface (TPMS) structure with a porosity of 74%, which meets the requirement of cancellous bone substitutes. A further cell proliferation test demonstrated that the sintering atmosphere of wet CO₂ led to improve cell vitality after 7 days of cell culture Moreover, with the possible benefit from the bio-inspired structure, the 3D-printed TPMS structure significantly improved the cell vitality, which is crucial for early osteogenesis and osteointegration.