Bone tissue engineering is an emerging field providing viable substitutes for bone regeneration. Freeform fabrication provides an effective process tool to manufacture scaffolds with complex shapes and designed properties. We developed a novel precision extruding deposition (PED) technique to fabricate composite polycaprolactone∕hydroxyapatite (PCL∕HA) scaffolds. 25% concentration by weight of HA was used to reinforce 3D scaffolds. Two groups of scaffolds having 60% and 70% porosities and with pore sizes of and respectively, were evaluated for their morphology and compressive properties using scanning electron microscopy and the mechanical testing. In vitro cell-scaffold interaction study was carried out using primary fetal bovine osteoblasts. The cell proliferation and differentiation were evaluated by Alamar Blue assay and alkaline phosphatase activity. Our results suggested that compressive modulus of PCL∕HA scaffold was for 60% porous scaffolds and was for 70% porous scaffolds. The osteoblasts were able to migrate and proliferate for the cultured time over the scaffolds. Our study demonstrated the viability of the PED process to fabricate PCL scaffolds having necessary mechanical property, structural integrity, controlled pore size, and pore interconnectivity desired for bone tissue engineering.