Three-dimensional (3D) printing of ceramics has gained widespread attentions in recent years. Many excellent reviews have reported the printing of ceramics. However, most of them focus on printing of dense ceramics or general ceramic aspects, there is no systematical review about 3D printing of porous ceramics. In this review paper, the 3D printing technologies for fabricating of porous ceramic parts are introduced, including binder jetting, selective laser sintering, direct ink writing, stereolithography, laminated object manufacturing, and indirect 3D printing processes. The techniques to fabricate hierarchical porous ceramics by integrating 3D printing with one or more conventional porous ceramics fabrication approaches are reviewed. The main properties of porous ceramics such as pore size, porosity, and compressive strength are discussed. The emerging applications of 3D printed porous ceramics are presented with a focus on the booming application in bone tissue engineering. Finally, summary and a perspective on the future research directions for 3D printed porous ceramics are provided.