The invention discloses a 3D printing device with a compact structure. The device comprises a box body, an extruder assembly, a heating bed assembly, a first driving mechanism, a second driving mechanism, a third driving mechanism and a control device, wherein the box body comprises a bottom panel, a top panel, a first side panel, a second side panel, a third side panel and a fourth side panel; the first side panel, the second side panel, the third side panel and the fourth side panel are correspondingly matched with the bottom panel and the top panel to form a storing chamber; the storing chamber is internally divided into an upper chamber and a lower chamber; wire chambers are uniformly between the inner walls and the outer walls of the four side panels; the control device is positioned in the lower chamber; a first guide rail, a second guide rail, a third guide rail, a fourth guide rail, a fifth guide rail and a sixth guide rail are arranged in the upper chamber; the first guide rail and the second guide rail are arranged in the Y axis direction; the third guide rail and the fourth guide rail are arranged in the X axis direction; the fifth guide rail and the sixth guide rail are arranged in the Z axis direction; the first driving mechanism and the second driving mechanism are matched with each other to drive the extruder assembly to move in the X axis direction and the Y axis direction; the third driving mechanism is used for driving the heating bed assembly to move in the Z axis direction. The device is compact and stable in structure, and reasonable in layout.