Cellular solids are widely observed in many natural systems such as bones, honeycombs, and shells due to their strength-to-weight ratio and energy absorption benefits. Taking inspiration from these natural systems, additive manufacturing (AM) has opened the design space for architected lattices that can be functionally graded geometrically and/or compositionally for desired properties, e.g., stiffness, strength, energy absorption, etc. To fabricate functionally graded structures using traditional extrusion-based AM, print paths are discretized into short segments which leads to defects, puts mechanical burdens on the 3D printer, and requires large part files. In this study, we develop a low-cost, generalizable method to fabricate graded structures using an anti-stutter, continuous print path. This method is employed to design lattices with diameter varying struts to prevent nodal failure and improve energy absorption as compared to their non-graded alternative. These geometric gradients, as well as compositional gradients, have implications for the next generation of architected lattices in sports equipment, packaging, biomedical implants/scaffolds, and automotive/aerospace protective structures.