Three-dimensional concrete printing (3DCP) is of great interest to scientists and the construction industry to bring automation to structural engineering applications. However, studies on the thermal performance of three-dimensional printed concrete (3DPC) building envelopes are limited, despite their potential to provide a long-term solution to modern construction challenges. This work is a numerical study to examine the impact of infill geometry on 3DPC lattice envelope thermal performance. Three different lattice structures were modeled to have the same thickness and nearly equal contour lengths, voids, and insulation percentages. Additionally, the effects of filament width and the application of granular insulating materials (expanded polystyrene beads and loose-fill perlite) were also studied. Finally, the efficacy of insulation was established. Results show that void area affects the thermal performance of 3DPC envelopes under stagnant air conditions, while web length, filament width, and contact (intersection) area between the webs and face shells affect the thermal behavior when cavities are filled with insulating materials due to thermal bridging. The thermal efficiency of insulation, which shows the effective use of insulation, varies between 26 and 44%, due to thermal bridges.