Wire Arc Additive Manufacturing, a 3D printing technology that uses metal as base material, rose in popularity over the past few years due to the overall maturing of the 3D printing concept and the possibility of rapidly obtaining prototypes in an ever-growing competitive industrial environment. Yet, there are still a lot of shortcomings when employing this technology, that limit its applicability. This paper proposes a novel methodology that improves the accuracy of the WAAM process (employing an industrial robot) and the product’s fidelity in relation to the 3D model, by scanning each printed layer and actively adjusting the printing / welding parameters (e.g. material feeding speed, robot speed, accuracy, acceleration, feedstock radius, material type, etc.), such that the prototype’s shape will have a lower deviation in relation to the reference 3D model.