Polylactic acid (PLA) is widely used in additive manufacturing but suffers from low toughness, poor hydrolytic stability, and limited corrosion resistance, restricting its long-term use in marine or humid environments. This study aims to overcome these limitations by investigating the combined effects of printing orientation and PU/CNT nanocomposite coating on the mechanical durability and shape memory performance of 3D-printed PLA exposed to a 3.5 wt% NaCl solution, simulating marine conditions. PLA specimens with raster angles of 0°, 45°, and 90° were fabricated by fused deposition modeling (FDM) and coated with a polyurethane/carbon nanotube (PU/CNT) composite to enhance interlayer strength and environmental resistance. The PU/CNT coating effectively mitigated saline-induced degradation, improving tensile, impact, and flexural strength by up to 28% and maintaining over 80% of the initial strength after 21 days of immersion. Moreover, the coated PLA exhibited a shape recovery ratio of ~ 91%, compared to 82% for uncoated samples, confirming improved functional stability. These findings demonstrate that PU/CNT coatings successfully address the key mechanical and environmental limitations of PLA, providing a viable route for the reliable use of PLA-based composites in marine engineering, adaptive smart structures, and biodegradable biomedical sensors.