A hybrid 3D color dithering method is proposed to improve image quality of a 3D color inkjet printing system. The method extends the conventional two-dimensional ordered dithering into 4 layers with 3-axis optimization. It results in smoother color mixing in multiple viewing directions by stacking and distributing the color ink-drop evenly in each of 4 × 4 × 4 voxels in a 3D print. 3D color error diffusion also applies to texture-rich areas to enhance its sharpness. A method to measure and compensate the color differences of a 3D print in different surface directions also is proposed to improve the consistency of color across different faces of the print.