Abstract: Terahertz waves have widespread applications in ultra-high-speed wireless communications, chemical and biology specificity as well as high-resolution imaging. However, the wavelength of terahertz wave is so small that conventional microwave fabrication techniques cannot meet the required accuracy of the terahertz devices, and micromachining technique is costly and complicated. 3-dimensional (3D) printed technology is emerging as a new method in terahertz devices fabrication and provides more degrees of freedom for terahertz devices design. This paper introduces some recent work on terahertz lenses from the State Key Laboratory of Terahertz and Millimeter Waves, City University of Hong Kong, including the designs of terahertz high-gain circular polarized (CP) lens, near-field focusing CP lens, Bessel beam launcher, and investigation of high-resolution 3D printing method as well as terahertz antenna measurement. The 3D printed terahertz lenses possess the advantages of low cost, low loss and rapid prototyping, which can be widely used in various terahertz systems.