The present study focuses on the shape morphing behaviour of 3D-printed beams manufactured using Polyethylene Terephthalate Glycol (PETG) filament subjected to thermal stimulus. The aim of this study is to explore the impact of various printing parameters, that is, printing speed, layer height, layer width, and nozzle temperature, on the shape transformation of PETG beams. The beams were printed using a standard Fused Deposition Modeling (FDM) printer and then subjected to thermal stimulus (in a water bath). The level of deformation of the beams was quantified by taking the following measurements: chord of deformed structure, arc height, and internal arc length. The deformation varied with different levels of the printing parameters. The shape transformation was also temperature dependent. Analysis of Variance (ANOVA) was performed accordingly to confirm the statistically significant influence of these parameters on the shape transformation behavior.