Essex-based CIP, which has a turnover of £6.2m and a staff of 84, positions itself as a specialist in digital printing and digital web printing.
Pims bosses are hoping the acquisition will enable the firm to keep up with client demand for greater customisation of documents.
The takeover forms part of Pims' strategy to provide a 24-hour, global document creation and production service.
With their combined printing equipment, Pims said it will now be able to produce two billion mono and 135 million colour impressions a year.
CIP managing director Phil Cherry said: 'Our digital print experience and Pims' global reach means we can offer the PR market more efficient, bespoke solutions.'
The move is also set to help Pims clients expand their work in the public sector, as CIP holds the necessary accreditation required for government tenders, such as ISO 9002 and Investors in People. CIP bosses are also now working on gaining the environmental ISO 14001 standard.
Cherry will continue to head the printing firm and Pims confirmed the CIP brand will be retained.
The deal boosts Pims' turnover to just over £40m and staffing levels to 500 across 12 offices in the UK and North America.
Meanwhile, as a recently accredited Primary Information Provider, Pims has signed up a number of clients for its regulatory information service PimsWire, following the Financial Services Authority's decision to open the market to competition.
Clients include investment trust Life Offices Opportunities Trust, AIM-listed firm Sports & Leisure Group and PizzaExpress.