The invention relates to an efficient porous structure design and optimization method based on a three-period minimal surface, belonging to the computer-aided design field. Firstly, the functional representation of porous structure based on three-period minimal curved surface and the corresponding porous structure design method are presented. Then, under the given external constraints, the energyfunction model is constructed to model the porous structure design, and the corresponding discretization form is given. Finally, topology initialization and geometry optimization are carried out to obtain the optimal porous structure under given constraints. The invention greatly shortens the design and optimization period of the cavity structure, and can give the optimal result in theory. The porous structure designed by the invention has the characteristics of smoothness, full connectivity, controllability, quasi-self-support and the like, and is suitable for the common 3D printing manufacturing method, and the internal structure of the printing process does not need additional support, so that the printing time and the printing material can be saved.