The Fourth Industrial Revolution represents the beginning of a profound change for the building sector. In the last decade, the perspective of shapes, materials, and construction techniques is evolving fast due to the additive manufacturing technology. On the other hand, even if the technology is growing fast and several 3D printed buildings are being developed worldwide, the potential of concrete 3D printing in building prefabrication remains unexplored. Consequently, the application of new digital fabrication technologies in the construction industry requires a redesign of the construction process and its components. This paper proposes a novel conception, design, and prototyping of a precast building envelope to be prefabricated with extrusion-based 3D concrete printing (3DCP). The new design and conception aim to fully exploit the potential of 3D printing for prefabricated components, especially in terms of dry assembly, speed of implementation, reusability, recyclability, modularity, versatility, adaptability, and sustainability. Beyond the novel conceptual design of precast elements, the research investigated the 3D printable cementitious material based on a magnesium potassium phosphate cement (MKPC), which was devised and tested to ensure good performances of the proposed component. Finally, a prototype has been realised in scale with additive manufacturing technology in order to verify the printability and to optimize the extruder path. This study leads us to believe that the combined use of prefabricated systems, construction automation, and innovative materials can decisively improve the construction industry’s sustainability in the future.