Owing to recent advances in additive manufacturing technology, design for additive manufacturing (DfAM) has been used to overcome design limitations due to constraints in traditional manufacturing processes. In this study, we applied DfAM technology to design lightweight and consolidated vacuum grippers for inspection equipment. We proposed a consolidated design to reduce manufacturing time and costs, which previously encompassed assembling eleven components. Topology optimization was used to reduce part weight while maintaining structural rigidity and safety, and two optimization models were designed: two-piece and one-piece models. Based on these optimized geometries, the internal vacuum paths were designed in a curved shape to enhance adsorption characteristics. Numerical simulations were conducted to evaluate the structural performance and flow characteristics of the initial design and the two optimization models. The pressure drop of the one-piece model, which was the best design, was reduced to 1/8 of the initial design and the structural safety factor was predicted to be 6.37. This final design was then additively manufactured by a digital light processing type 3D printer and the weight of the resulting parts was reduced from 12.94 to 2.08 g. Experimental observation found that the additively manufactured vacuum gripper showed enhanced absorption performance compared to the initial design.