Miniaturized electrochemical energy storage devices (MEESDs) are widely utilized in microelectronic devices because of their lightweight, controllable size and shape, excellent electrochemical performance and flexibility, and high durability. Current strategies, such as electrodeposition, electrospinning, and chemical-vapor-deposition methods, for fabricating MEESDs still encounter the persistent limitations on low fabrication efficiency, tedious preparation procedure, and non-scalability. To address this challenge, the new emerging three-dimensional (3D) printing technology has been developed for customizable MEESDs because of its scalability, low-cost, high manufacturing efficiency, and complexity capability. Among the 3D printing technologies, a direct-ink-writing (DIW) technique with well-controlled geometry and architecture of the electrode structures, is an ideal tool for building high-efficient MEESDs via designing the ink components and regulating the device configurations. In light of this, our Perspective provides fundamental insights into rational printable inks design principles towards high-performance MEESDs. We start the discussion on the design principle of printable inks, and the selection criteria for electrode materials and electrolytes inks. Then, the recent progress in fabricating the high-performance MEESDs via the DIW technology is summarized. Finally, the existing problems and future perspectives on functional MEESDs fabrication are also discussed. We envision that this review serves as the basic design principles of 3D printing ink for the rational design of high-efficient MEESDs.