The field of regeneration for functional cartilage has progressed tremendously. Conventional approaches for regenerating the damaged tissue based on integrated manufacturing are limited by their inability to produce precise and customized biomimetic tissues. On the other hand, 3D bioprinting is a promising technique with increased versatility because it can co-deliver cells and biomaterials with proper compositions and spatial distributions. In the present article, we review recent progress in the complete 3D printing process involved in functional cartilage regeneration, including printing techniques, biomaterials and cells. We also discuss the combination of 3D in vivo hybrid bioprinting with spheroids, gene delivery strategies and zonal cartilage design as a future direction of cartilage regeneration research.