If you want a hard copy of your images, they have to be printed in some way.
1) you can do it yourself, so yes, you'd need a printer capable of "photo quality." Most printers these days can do that, you just have to buy the right paper and set the settings right in your printer driver software.
2) you can have someone else do the printing, like Costco, Wal-Mart, the drug store, etc. In this option, you don't need to own a printer.
3) you can upload the images to a website and just view the images that way. Most websites also have an option to buy prints of your images too.
4) for a while, Polaroid and Olympus worked on a combination digital camera with instant film output. But the output was...well, disappointing.