As an emerging technology in the field of additive manufacturing, 4D printing is highly disruptive to traditional manufacturing processes. Therefore, it is necessary to systematically summarize the research on 4D printing to promote the development of related industries and academic research. However, there is still an obvious gap in the visual connection between 4D printing theory and application research. We collected 2070 studies from 2013 on 4D printing from the core collection of Web of Science. We used VOSviewer 1.6.20 and CiteSpace software 6.3.3 to visualize the references and keywords to explore focuses and trends in 4D printing using scientometrics. In addition, real-world applications of 4D printing were analyzed based on the literature. The results showed that “tissue engineering applications” is the most prominent focus. In addition, “shape recovery”, “liquid crystal elastomer”, “future trends”, “bone tissue engineering”, “laser powder bed fusion”, “cervical spine”, “4D food printing”, “aesthetic planning” are also major focuses. From 2013 to 2015, focuses such as “shape memory polymers” and “composites” evolved into “fabrication”. From 2015 to 2018, the focus was on “technology” and “tissue engineering”. After 2018, “polylactic acid”, “cellulose”, and “regenerative medicine” became emerging focuses. Second, emerging focuses, such as polylactic acid and smart polymers, have begun to erupt and have become key research trends since 2022. “5D printing”, “stability” and “implants” may become emerging trends in the future. “4D + Food”, “4D + Cultural and Creative”, “4D + Life” and “4D + Clothing” may become future research trends. Third, 4D printing has been widely used in engineering manufacturing, biomedicine, food printing, cultural and creative life, and other fields. Strengthening basic research will greatly expand its applications in these fields and continuously increase the number of applicable fields.