The aim of this study is to fabricate biodegradable PLA-based composite filaments for 3D printing to manufacture bear-loading lattice structures. First, CaCO₃ and TCP as inorganic fillers were incorporated into a PLA matrix to fabricate a series of composite filaments. The material compositions, mechanical properties, and rheology behavior of the PLA/CaCO₃ and PLA/TCP filaments were evaluated. Then, two lattice structures, cubic and Triply Periodic Minimal Surfaces-Diamond (TPMS-D), were geometrically designed and 3D-printed into fine samples. The axial compression results indicated that the addition of CaCO₃ and TCP effectively enhances the compressive modulus and strength of lattice structures. In particular, the TPMS-D structure showed superior load-carrying capacity and specific energy absorption compared to those of its cubic counterparts. Furthermore, the deformation behavior of these two lattice structures was examined by image recording during compression and computed tomography (CT) scanning of samples after compression. It was observed that pore structure could be well held in TPMS-D, while that in cubic structure was destroyed due to the fracture of vertical struts. Therefore, this paper highlights promising 3D-printed biodegradable lattice structures with excellent energy-absorption capacity and high structural stability.