A cantilever structure in 3D printed based on a fiber Bragg grating (FBG) sensor embedded in polymer material is proposed. The FBG sensor was embedded in 3D printed coating and was tested under three physical parameters: displacement, temperature and vibration. The sensor was tested in displacement in two different regions of the cantilever, namely, on its midpoint and end point. The maximum displacement sensitivity achieved was (3 +/- 0.1) pm/mm for end point displacement, and a temperature sensitivity of (30 +/- 1) pm/degrees C was also attained. In the case of vibration measurements it was possible to obtain a 10.23Hz-low frequency oscillation.