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Three-dimensional (3D) printing was utilized for the fabrication of a composite scaffold of poly(ε-caprolactone) (PCL) and calcium magnesium phosphate (CMP) bioceramics for bone tissue engineering application. Four groups of scaffolds, that is, PMC-0, PMC-5, PMC-10, and PMC-15, were fabricated using a custom 3D printer. Rheology analysis, surface morphology, and wettability of the scaffolds were characterized. The PMC-0 scaffolds displayed a smoother surface texture and an increase in the ceramic content of the composite scaffolds exhibited a rougher structure. The hydrophilicity of the composite scaffold was significantly enhanced compared to the control PMC-0. The effect of ceramic content on the bioactivity of fibroblast NIH/3T3 cells in the composite scaffold was investigated. Cell viability and toxicity studies were evaluated by comparing results from lactate dehydrogenase (LDH) and Alamar Blue (AB) colorimetric assays, respectively. The live-dead cell assay illustrated the biocompatibility of the tested samples with more than 100% of live cells on day 3 compared to the control one. The LDH release indicated that the composite scaffolds improved cell attachment and proliferation. In this research, the fabrication of a customized composite 3D scaffold not only mimics the rough textured architecture, porosity, and chemical composition of natural bone tissue matrices but also serves as a source for soluble ions of calcium and magnesium that are favorable for bone cells to grow. These 3D-printed scaffolds thus provide a desirable microenvironment to facilitate biomineralization and could be a new effective approach for preparing constructs suitable for bone tissue engineering.