This study evaluates the mechanical behavior of Gyroid triply periodic minimal surface (TPMS) structures filled with polyurethane foams of different densities under quasi-static compression. Key performance indicators were analyzed, including energy absorption per unit weight and volume, mechanical efficiency and the evolution of the failure mechanism. The Gyroid architecture, characterized by a high strength-to-weight ratio and uniform stress distribution, was combined with foams of varying density to assess how multi-material hybridization influences structural response. Differences in density significantly affected the onset of collapse, plateau behavior and specific energy absorption. The results show that hybrid Gyroid–foam configurations provide superior early-stage energy absorption and improved mechanical efficiency compared with single-density foam systems, without a significant increase in mass. These findings demonstrate the potential of hybrid TPMS-based energy absorbers for weight-critical applications in the aerospace, automotive and wearable protection sectors.