As one of the key factors for tissue engineering, scaffolds affect the spread and proliferation of seeded cells and the formation of new tissue. Although conventional methods can produce porous scaffolds with different porosities, they are lack controls the porous structures of the scaffolds. In recent years, rapid prototyping (RP) techniques have been developed and have successfully applied to fabricate TE scaffolds. RP techniques can provide accurate control over internal pore architectures and complex-shapes. As a result of these techniques, ideal tissue-engineered constructs could be prepared. This paper reviewed the advantages, potential and future directions of RP techniques in the design and fabrication of TE scaffolds.