The 3D laser printing of form birefringent structures promises fast prototyping of polarization-sensitive photonic elements. However, achieving the quarter- and half-wave phase retardation levels needed in applications still remains a challenge, especially at visible wavelengths. Thickness of the birefringent region, usually consisting of simple 1D gratings, must be sufficiently large to ensure the required retardance, making the 3D laser-printed gratings prone to mechanical collapse. Here we demonstrate 3D laser-printed mechanically robust form birefringent 3D structures whose thickness and phase retardation can be increased without loss of mechanical stability, and report on the realization of compact self-supporting structures exhibiting quarter- and half-wave phase retardation at visible wavelengths.