PLLA based shape-memory polymer composites with multifunctions have attracted growing attention in biomedical applications. Generally, a single nanofiller has the problem of insufficient functionalization and easy aggregation. Therefore, we design and fabricate polydopamine (PDA) surface modified MWCNTs-ZnO hybrid nanostructure ((MWCNTs-ZnO)@PDA). The dispersion of (MWCNTs-ZnO)@PDA in PLLA is improved in comparison with the pristine MWCNTs or ZnO. The results indicate that the (MWCNTs-ZnO)@PDA nanosystem shows a synergistic effect on the mechanical properties and photothermal properties of the composites. Comparative analysis with neat PLLA demonstrates a remarkable 17% increase in tensile strength and a 19% increase in elongation at break for PLLA/(MWCNTs-ZnO)@PDA composite. Additionally, the composites exhibit excellent NIR light-induced shape memory effects with a shape recovery ratio reaching 100%. Moreover, PLLA/(MWCNTs-ZnO)@PDA composites show favorable antibacterial activity against Escherichia coli (E. coli) and Staphylococcus aureus (S. aureus). Furthermore, the polymer composites display good 3D printability, and the 3D-printed porous scaffold possesses high compressive strength and modulus. Also, the PLLA/(MCNTs-ZnO)@PDA scaffold can be compressed into a compact size and recover its original shape under NIR light irradiation. This work provides an approach to prepare novel shape-memory polymer composites with multifunctions including high strength, light-induced shape-recovery, antibacterial properties and printability.