With the rapid development of additive manufacturing technology, the lattice structure based on triply periodic minimal surface (TPMS) has been widely used in structural lightweight design and biological implants because of its advantages, such as light weight, high strength, good connectivity, and controllable topology. However, there are some problems in the modeling of TPMS lattice, such as tedious process, error-prone, and long calculation time. How to model a TPMS lattice structure with complex contours efficiently and stably has become an urgent problem to be solved. Therefore, based on TPMS and voxel distance field, a modeling method of complex contour TPMS lattice is proposed in this paper. The triangular patch model of TPMS unit is modeled by the marching cube method. Based on the topological position relationship between the points and the geometric model, the points in the space are voxelized, and the points on the contour boundary of the model are extracted. By calculating the distance field of the boundary points and doing Boolean operation with the distance field of TPMS, the modeling of a complex contour TPMS lattice structure is realized. The verification of an example shows that the method proposed in this paper can model the complex contour TPMS lattice structure efficiently and stably.