Most of the current poly(ether ether ketone) (PEEK) parts manufactured via fused deposition modeling (FDM) printing are suffering for weak interlayer adhesion and low mechanical strength. Herein, a simplified tactic is adopted, which combined FDM printing with annealing post-treatment, to realize a better mechanical strength, interlayer adhesion and wear resistance of 3D printed PEEK. The freeze-fracture surface of PEEK annealed at 190 ℃ was dense. At the normal load of 30 N, the wear rate of annealed PEEK reached the minimum value of 2.83 × 10−5 mm3/(N·m), with a 34 % reduction. At a higher load of 70 N, the annealed PEEK at 170 ℃ still maintained a low wear rate. Moreover, the annealed PEEK exhibited excellent manufacturing precision and fidelity. The PEEK annealed at 170 ℃ was used to simulate wear within knee-joint cavity and planetary gears were printed for demonstration, which run stably at different working conditions. These findings highlight the significant potential of 3D printed PEEK combined with annealing post-treatment in the applications of heavy-load gear and bionic joint.