Three-dimensional (3D) printing technology is becoming a promising method for fabricating highly complex ceramics owing to the arbitrary design and the infinite combination of materials. Insufficient density is one of the main problems with 3D printed ceramics, but concentrated descriptions of making dense ceramics are scarce. This review specifically introduces the principles of the four 3D printing technologies and focuses on the parameters of each technology that affect the densification of 3D printed ceramics, such as the performance of raw materials and the interaction between energy and materials. The technical challenges and suggestions about how to achieve higher ceramic density are presented subsequently. The goal of the presented work is to comprehend the roles of critical parameters in the subsequent 3D printing process to prepare dense ceramics that can meet the practical applications.