This study is focused on the deformation behaviour of composites formed by auxetic lattice structures acting as a matrix based on the re-entrant unit-cell geometry with a soft filler, motivated by biomedical applications. Three-dimensional models of two types of the auxetic-lattice structures were manufactured using filament deposition modelling. Numerical finite-element models were developed for computational analysis of the effect of the filler with different mechanical properties on the effective Poisson's ratio and mechanical behaviour of such composites. Tensile tests of 3D-printed auxetic samples were performed with strain measurements using digital image correlation. The use of the filler phase with various elastic moduli resulted in positive, negative, and close-to-zero effective Poisson's ratios. Two approaches for numerical measurement of the Poisson's ratio were used. The failure probability of the two-phase composites with auxetic structure depending on the filler stiffness was investigated by assessing statistical distributions of stresses in the finite-elements models.