Zirconia and resin are the most commonly utilized materials in dental restorations. However, zirconia presents significant wear on opposing teeth, whereas resin materials have low wear resistance and mechanical performances. A zirconia-resin interpenetrating phase composite (IPC) dental restoration was designed and fabricated using 3D printing and vacuum infiltration processes, incorporating zirconia scaffolds with triply periodic minimal surfaces (TPMS) structures. The mechanical and tribological performances of the IPCs were investigated through compressive and tribological experiments and finite element analysis, elucidating the influence of zirconia volumetric fraction. Results showed that IPCs exhibit excellent mechanical and tribological compatibilities, which can reduce the damage and wear of the antagonistic teeth. This designing and manufacturing strategy enables the IPC restorations with promising applications in dentistry.