The three-dimensional (3D) printing technique for cement-based materials has been ac-tively investigated and utilized in civil engineering. However, there is no systematic review of the fabricating devices. This paper reviews the software and hardware for extrusion-based 3D concrete printing. Firstly, a dedicated tool path generating software is urgently needed to meet the cementi-tious printing applications and to improve printing quality with toolpath optimizations. Secondly, the existing printing equipment was summarized and discussed, concluding the pros and cons of various 3D motion systems, material systems, and nozzle units. Suitable choices for scientific research and engineering applications were recommended. The reinforcing techniques were categorized and concluded with the existing drawbacks and the research trend. A hybrid manufacturing system of 3D printing and the reinforcing technique was then proposed with a system diagram and flowchart.