High-strength and high-porosity tricalcium phosphate (TCP) scaffolds were prepared by 3D gel-printing (3DGP) technique. The microstructure of the scaffolds was observed by scanning electron microscopy (SEM) and the biocompatibility was evaluated by animal experiments. The results show that the optimal concentration of solid loading of slurry for printing is 34vol%, and the shrinkage of printing scaffolds along length, width, and height directions is 11.44%±0.20%, 9.41%±0.23%, and 10.57%±0.20%, respectively. After the scaffolds are sintered at 1150 °C for 2 h, the compressive strength of the scaffolds is 22.6±0.12 MPa and the porosity is ~62.1%. The animal implantation experiment shows that the porous TCP scaffolds do not cause significant tissue rejection in rabbit femoral condylar defects, and there is no inflammatory reaction or chronic inflammatory reaction at the bone-to-scaffold junction. In conclusion, the porous TCP scaffolds prepared by 3DGP technique have good biocompatibility and excellent strength properties, which are expected to meet the implantation requirements of cancellous bone.