Bone and cartilage defects resulting from trauma, degenerative diseases, or congenital malformations remain a major clinical challenge due to the limited intrinsic healing capacity of these tissues often leads to unsatisfactory outcomes. Piezoelectric biomaterials, which are capable of generating localized electrical signals under mechanical stimulation, have attracted considerable attention as they could mimic the electromechanical microenvironment of native tissues and modulate key cellular processes. However, conventional fabrication strategies were usually failed to meet the personalized requirements of bone and cartilage regeneration. Three-dimensional (3D) printing offers powerful tools for producing patient-specific scaffolds with complex architectures and controlled functionality. In this review, we firstly introduced the piezoelectric properties of the natural bone and cartilage tissue, and then discussed the characteristics of piezoelectric materials in regenerative medicine, with particular emphasis on the advantages and limitations of usage of 3D printing techniques in the fabrication of the piezoelectric biomaterials. Finally, we summarized the recent advances in 3D-printed piezoelectric scaffolds for bone and cartilage regeneration. Consequently, this review highlights the significant potential and practical value of 3D-printed piezoelectric scaffolds as the next generation of osteochondral implants.