In this study, we aimed to manufacture a 3D printed composite fabric that can be used as a shoe upper based on an auxetic re-entrant pattern. Four types of substrate material-cotton fabric (CO), polyester fabric (PET), aramid knit (ARNT), and neoprene (NP)-with different surface roughness were selected. Then, in combination with a 3D printing auxetic re-entrant pattern (3DP-RE), composite fabrics were prepared to analyze Poisson's ratio, the surface roughness, the peel strength, and tensile properties. The analysis of Poisson's ratios indicate that 3DP-RE presented a negative Poisson's ratio from 0% to 30%. 3DP-RE/CO and 3DP-RE/PET showed a positive Poisson's ratio at a strain at 5% or more due to limited deformation of the woven fabric. However, 3DP-RE/ARNT and 3DP-RE/NP showed negative Poisson's ratios with up to 25% and 30% strain, respectively, due to the stretchability of the substrate fabric. Evidently, 3DP-RE/textile composite fabrics were affected by surface roughness, including the fabric structure, density, and microfibers of the substrate fabric. Based on these results, the surface roughness of the raw materials was quantitatively measured. That of 3DP-RE was the lowest, at 0.9 ㎛. Those of CO, PET, ARNT, and NP used as the substrate fabric were 6.1, 4.6, 3.5, and 2.1 ㎛, respectively, in the order of NP < ARNT < PET < CO. It also affected the peel strength. The peel strength of 3DP-RE/CO had the highest value according to the fabric structure characteristics and its surface roughness. With regard to the tensile properties of 3DP-RE/textile composites, the higher the surface roughness, the higher are the peel strength and the maximum strength. However, the lower the surface roughness, the lower is the peel strength but more improved are the elongation at break and the toughness. In addition, the elongation at break and the toughness of 3DP-RE/textile composite fabrics were improved as compared with those of the substrate fabric.