Disclosed are a method of inspecting a printing quality of a 3D printing object using a femtosecond laser beam during a 3D printing process, and an apparatus and a 3D printing system for the same. A laser beam is irradiated from a femtosecond laser source disposed coaxially with a 3D printing laser source to inspect a state of the printing object. The laser beam generated by the femtosecond laser source is separated into a pump laser beam and a probe laser beam. The printing laser beam irradiated from a 3D printing laser source or the pump laser beam is irradiated onto a printing object to generate ultrasonic waves. To measure the ultrasonic waves, a probe laser beam is irradiated onto the printing object. The probe laser beam reflected by the printing object is detected. The quality of the printing object is inspected by analyzing the reflected probe laser beam.