Shape-memory polymers (SMPs) are smart materials that have gained significant attention in recent years owing to their widespread application in smart structures and devices. Digital light processing (DLP), a vat-photopolymerization-based technique, is a significantly faster technology for printing a complete layer in a single step. The current study reports a facile and fast method for the 3D printing of SMP-based smart structures using a DLP 3D printer and a customized resin. A liquid crystal (LC, RM257) was combined with the resin to introduce shape-memory properties. The combination of LCs in photocurable resin provides the opportunity to directly 3D-print thermoresponsive structures, avoiding the complexity of SMP resin preparation. The structures were printed with different geometries, and the shape-memory response was measured. Lattice structures were fabricated and programmed to obtain tunable mechanical properties. Furthermore, the strain-sensing response was measured to demonstrate the utility of these lattice structures as smart patches for joint-movement sensing. The SMPs can be prepared conveniently and can potentially be used for various applications, such as smart tools, toys, and meta-material sensors.