A printing apparatus includes a chip including a nozzle, and a control unit. The control unit is configured to perform printing on a medium by applying to the chip a predetermined voltage using a first driving waveform for discharging a small dot, judge, based on a density and a target density of the dot printed on the medium, whether the target density is attainable by a voltage change within an adjustable voltage range, and determine, in a case where the target density is not attained even when a voltage of an upper limit value of the adjustable voltage range is applied using the first driving waveform, an actual voltage to be used during final printing, with the driving waveform being changed over to a second driving waveform for discharging a large dot.