We demonstrate the complete process chain, from optical design, manufacturing by femtosecond two-photon direct laser writing and testing to the application of multi-lens objectives with sizes around 100 µm, and validate their high performance and functionality by quantitative measurements of the modulation transfer function and aberrations. The unprecedented flexibility of our method paves the way towards printed optical miniature instruments such as endoscopes, fibre-imaging systems for cell biology, new illumination systems, miniature optical fibre traps, integrated quantum emitters and detectors, and miniature drones and robots with autonomous vision.