Hydroxyapatite (HAp) of different morphologies was prepared by the direct decomposition of calcium lactate pentahydrate chelates using dipotassium hydrogen phosphate under hydrothermal conditions. The proposed technique allows for precise control of the HAp crystals morphology and product purity, which are necessary for biomedical applications. The synthesis parameters such as reagent concentrations, pH, reaction time, temperature, pressure, and stirring rate were optimized in order to produce calcium phosphates (CaPs) ceramics with restricted morphologies and composition. As a result, we obtained hydroxyapatite in the form of whiskers, hexagonal rods, nano particles, flowers, and cylinders. The products were characterized according to their structure (FTIR and XRD), morphology (SEM), and functional properties, i.e., the specific surface area. The obtained results indicate that the reagent concentration and pH values have the greatest impact on the HAp properties; however, the proper combination of all the mentioned parameters should be considered when there is a need for a bioceramic with defined physicochemical properties and an appropriate morphology.