Current therapies for articular cartilage defects or degeneration (osteoarthritis) remain unsatisfactory. There are significant clinical demands for the development of more efficient approaches to enhance the repair or regeneration of articular cartilage lesions. In this study, a newly defined alginate-gelatin (A-G) composite bioink was synthesized using the carbodiimide chemistry crosslinking method. Then, the dual-crosslinking (DC) bioscaffolds containing both chemical and ionic networks were fabricated by 3D-bioprinting technique and Ca²⁺ treatment. The optimized networks formed in the DC bioscaffolds provided a desirable Young’s modulus and geometric constraints, which were superior to that of the single-crosslinking (SC) control group to mimic the mechanical properties of the pericellular matrix (PCM) of native articular cartilage. Chondrocytes exhibited above 95% viability and higher proliferation rate in the 3D printed A-G-DC bioscaffolds than in the alginate-only group after 7 days in vitro culture. Chondrogenic differentiation in vitro was improved in the A-G-DC bioscaffolds than that of the alginate-only group, indexed by upregulation of chondrogenic marker gene expression including Sox9, Col2a1, Comp and Aggrecan. In the subcutaneous transplantation model and osteochondral defect model in mice with severe combined immunodeficiency (SCID), the A-G-DC bioscaffolds exhibited enhanced chondrogenesis and repair capacity than the alginate-only or none-implant control group, characterized by the increased expression of SOX9 and collagen type II (Col II) and higher ICRS II scores, respectively. These findings demonstrated that the biomechanically inspired A-G composite bioink and the 3D-printed A-G-DC bioscaffolds possess excellent cell biocompatibility, satisfactory biomechanical properties and chondrogenesis promotion capacity, which have the potential to be applied to enhance cartilage regeneration for patients with articular cartilage lesions.