Smart and functional materials processed by printing technologies reveal an increasing interest due to reduced cost of assembly, easy integration into devices and the possibility to obtain multifunctional materials over flexible and large areas. After introducing smart materials, printing technologies and inks, this review discusses the materials that are already being printed, mainly piezoelectric, piezoresistive, magnetostrictive, shape memory polymers (SMP), pH sensitive and chromic system materials. Since polymer-based smart materials are particularly attractive for device implementation, this review will focus on printed polymer-based smart materials. Finally, critical challenges and future research directions will be addressed.