In order to fabricate bone tissue engineering scaffold accurately, a novel method that combines parametric modeling and 3D printing was proposed. In this method, the scaffold structures were designed using cloud data of molded surface. Firstly, the cloud data containing the surface information of Cube structure, Diamond structure and Gryriod structure were obtained. Then the scaffold structures with different parameters were expressed by mathematical functions. After that, finite element analysis was done to the scaffolds. The mechanical properties of porous scaffolds were calculated based on finite element analysis. Bone tissue engineering scaffolds with differentSporous structures were manufactured by 3D printing. Finally, characterizations of printed titanium scaffolds were done to detect the porosity and mechanical properties. The results show that the parameterized model and rapid prototyping manufacturing can design and fabricate titanium alloy scaffolds with specific pore structure characteristics effectively. And the scaffold"s mechanical properties can be also designed. It realized porous titanium alloy scaffolds with optimized biological functions from the perspective of bionics.