In this study, multiple colors and deluster polyethylene terephthalate (PET) fabrics at one-time printing were obtained by different plasma treating times. Radio frequency (13.56 MHz) plasma was employed to selectively etch on deluster polyethylene terephthalate-titanium dioxide (PET-TiO₂) fabrics, which improved the surface roughness and introduced active groups. TiO₂ nanoparticles were exposed on the surface of the PET fabrics. The treated PET fabrics exhibited superhydrophilicity, as evidenced by the reduction of the water contact angle to zero degree (0°). A magnetic screen-printing machine was utilized to apply a paste printing consisting of blue pigment, binder, and synthetic thickener. After plasma selective etching, the delusted PET fabric with exposed TiO₂ improved the printability. Moreover, this work provided a simple and eco-friendly method for different surface, physical, and chemical properties of the PET fabrics. The method also enhanced the color strength rate, washing, and rubbing fastness of the PET fabrics. Thus, the printing of organic component PET fabrics could be one step toward improving print qualities after plasma etching treatment.