Porous hydroxyapatite (HA) scaffolds for bone tissue engineering were successfully prepared using 3D gel printing technology. The rheological properties of the HA ceramic slurry, the porosity and shrinkage of the scaffold, and the mechanical properties and degradability of the scaffold were studied. The influence of printing speed on the formation of the scaffold was also investigated. HA ceramic slurry with a solid volume fraction of 55 vol% was used to prepare the scaffolds with an interconnected pore structure that can provide a channel for the adhesion, proliferation, and substance transportation of bone cells. The sintered scaffold had a pore size of about 350 mu m x 350 mu m. The porosity, and shrinkage in height and width were 52.26%, 16.2 +/- 0.2%, and 17.8 +/- 0.23%, respectively. The maximum compressive strength and compressive modulus of the sintered scaffolds were 16.77 +/- 0.38 and 492 +/- 11 MPa, respectively. The weight loss rate of the scaffold was 10.38% after degradation in Tris-HCI solution for 5 wk.