The invention provides a three-dimensional (3D) printing color rendering method, a device and a system. The method comprises the steps of carrying out voxelization treatment on a 3D model to be printed, and obtaining model voxel position information and first voxel color information; mapping the first voxel color information into corresponding printing voxel color information; according to the model voxel position information and the printing voxel color information, confirming a printing voxel matrix and sign information corresponding to each primary color; and according to the printing voxelmatrixes and the sign information, adopting an opaque material for printing layer by layer. According to the 3D printing color rendering method, the device and the system provided by the invention, by utilizing a different space arrangement mode of the multi-color 3D color rendering model and surface printing voxels, the color space resolution and reproduction capacity is improved, transition colors and true colors in a large color gamut range are better rendered, and the accuracy in color reproduction is improved.