Programmed 4D printing shape-memory polymers (SMPs) have been endorsed as an emerging paradigm for developing adaptive dynamic components with sophisticated architectures and biomimetic adaptation capacities. However, the species of SMPs systems are still rare while most of them are produced from expensive monomers which have restricted their mass production. Moreover, most SMPs show poor elongation at break and strain which cannot support a higher degree of bending during shape memory deformation. Herein, a kind of new epoxy vinyl ester resin ink is developed and improves the 4D printing process of shape memory epoxy-based polymer. By adjusting the printing conditions to match the ink property, a series of precisely designed printing structures are successfully produced. The printed SMP system shows a favorable strain rate under heat-treated conditions above its glass transition temperature (T_g) which leads to fine shape memory performance. Furthermore, the printed components obtained through micro to macro multi-scale 4D printing structure design confirm its application potential as dynamic adaptive devices in aerospace and safety engineering.