Direct ink writing (DIW) is an extrusion-based additive manufacturing technique, which uses a layer-by-layer deposition of an ink, usually containing high solid loads and low concentration of additives, to provide plasticity and structural stability for the construction of near-net-shaped pieces. In this work, a zirconia stabilized with 5 mol% Y2O3 colloidal ink was developed aiming to obtain dense prototypes, partially translucent, with potential for making dental prostheses. Cylindrical pieces (Ø 20 mm × 2.5 mm), prismatic bars (55 × 5 × 4 mm) and 3-element dental prostheses were printed based on Computer-aided design (CAD) models, using a printing speed of 10 mm.s−1 and a nozzle with Ø 0.25 mm. The printed samples were dried at strictly controlled conditions, debinded using an optimized thermal cycle, and sintered at 1600 °C-2 h. The sintered parts were characterized by X-ray diffraction, scanning electron microscopy, Vickers hardness, fracture toughness and bending strength. Concerning dental prosthesis, a post-processing finishing strategy was performed on pre-sintered bodies to highlight the anatomical details. After sintering, samples presented relative density around 94–95 %, Vickers hardness, fracture toughness and Young Modulus of 12.7 ± 0.3GPa, 5.31 ± 0.21 MPa.m1/2 and 195.4 ± 45 GPa, respectively. A characteristic strength (σ0) of 303 MPa was attained, which is above the requirements for its application as ceramic single-unit dental prostheses. A critical analysis of the technological difficulties of this 3D printing technique for manufacturing dental prostheses is presented, while future directions are addressed.