This work proposes a new type of lightweight cellular foamed concrete (FC) inspired by natural cellular structures with controllable mechanical properties for different prefabricated engineering applications. The 3D printed formworks are inspired by the lattice structure and triply periodic minimal surface (TPMS) architectures, including gyroid and primitive prototypes. These 3D printed sacrificial thermoplastic Polylactic Acid (PLA) formworks were then infiltrated with two types of foamed concrete with different densities of 600 kg/m3 and 800 kg/m3 and subjected to uniaxial compressive loadings. Furthermore, the X-ray computed tomography (CT) scan was conducted on the prefabricated structures to further observe the PLA-foamed concrete contact region and to investigate the air void characteristics. Numerical simulation was employed for further investigation on the structural performance and failure mechanism of three bio-inspired structures (TPMS-Primitive, -Gyroid, and strut-based lattice). By both numerical and experimental investigations, the gyroid cellular structure yields the highest compressive capacity, followed by the primitive and lattice structures, respectively. Furthermore, based on the X-ray micro-CT scan, the bio-inspired architecture of the moulds showed a significant effect on the size and distribution of air voids, which highly influenced the compressive strength of the infiltrated foamed concrete.