A 3D-printable polymer can provide an effective solution for developing piezoelectric structures. However, their nanocomposite formulation and 3D printing processability must be optimized for fabricating complex geometries with high printability. In the present study, we optimized the 3D-printable piezoelectric composite formulation for developing complex geometries by an additive manufacturing approach. The zinc oxide (ZnO) nanomaterial was synthesized by the hydrothermal method. The ZnO loading in the 3D-printed flexible resin was optimized to exhibit good interfacial adhesion and enable 3D printing. The lattice structure was fabricated to improve the piezoelectric response compared with the solid structure. The lattice structure block printed with 10 wt% ZnO showed a good piezoelectric response, with a linear increase in the generated output voltage for an increase in force. The maximum power density of 0.065 μW/cm2 was obtained under 12 N force at 1 Hz. The fabricated structure generated a peak–peak voltage of ~3 V with a foot heel strike.