Nanocomposite hydrogels enable augmented properties, functions, and responsive behaviors. In the field of stereolithography 3D printing of the photothermal responsive nanocomposite hydrogel, the influence of the size of nano-Fe3O4 on 3D printing properties is significant due to the sedimentation, but the relevant research is rare. In this study, for the fabrication of photothermal responsive hybrid hydrogel, poly(N-isopropylacrylamide-acrylamide)/nano-Fe3O4 [P(NIPAM-AM)/nano-Fe3O4] gel photoresist was prepared and digital light processing (DLP)-based 3D printing as one of the popular stereolithography 3D printing technology was utilized. The influences of two sizes of Fe3O4 nanoparticles (10 and 50 nm) denoted as nano-Fe3O4(10) and nano-Fe3O4(50) on DLP 3D printing properties of the gel photoresist were investigated in detail. The results reveal that the gel photoresist with nano-Fe3O4(10) obtained long exposure time for the basic prototype, low overcuring degree (Od), and good uniformity of nanoparticles in hybrid hydrogels, while those with nano-Fe3O4(50) had the merits of printing high 3D sample due to the low release fore. Unfortunately, the gel photoresist with a high content of nano-Fe3O4 such as 3.11 wt% failed in 3D printing of a high and uniform gel cylinder. A strategy of preparing P(NIPAM-AM)/nano-Fe3O4 gel photoresist with mixed nano-Fe3O4(10) and (50) for 3D printing was proposed. Using the gel photoresist (nano-Fe3O4 content: 3.11 wt%) with two sizes of nano-Fe3O4 mixed with 50% each and the exposure time of 8 s, a gel cylinder with a height of 1 cm was successfully printed with uniform nano-Fe3O4 distribution and low Od values (≤ 1.17%). Further, a biomimetic hydrogel octopus was 3D printed by using the gel photoresist with mixed nano-Fe3O4 and thereafter a near-infrared-light-driven waving motion of octopus tentacle was achieved successfully.