This review emphasizes the latest developments in bioprinted scaffolds in tissue engineering, with a focus on their biomimetic applications. The accelerated pace of development of 3D bioprinting technologies has transformed the ability to fabricate scaffolds with the potential to replicate the structure and function of native tissues. Bioprinting methods such as inkjet, extrusion-based, laser-assisted, and digital light processing (DLP) approaches have the potential to fabricate complex, multi-material structures with high precision in geometry, material composition, and cellular microenvironments. Incorporating biomimetic design principles to replicate the mechanical and biological behaviors of native tissues has been of major research interest. Scaffold geometries that support cell adhesion, growth, and differentiation essential for tissue regeneration are mainly of particular interest. The review also deals with the development of bioink, with an emphasis on the utilization of natural, synthetic, and composite materials for enhanced scaffold stability, printability, and biocompatibility. Rheological characteristics, cell viability, and the utilization of stimuli-responsive bioinks are also discussed in detail. Their utilization in bone, cartilage, skin, neural, and cardiovascular tissue engineering demonstrates the versatility of bioprinted scaffolds. Despite the significant advancements, there are still challenges that include achieving efficient vascularization, long-term integration with host tissues, and scalability. The review concludes by underlining future trends such as 4D bioprinting, artificial intelligence-augmented scaffold design, and the regulatory and ethical implications involved in clinical translation. By considering these challenges in detail, this review provides insight into the future of bioprinted scaffolds in regenerative medicine.