This study investigates a poly(epsilon-caprolactone)-graft-type II collagen-graft-chondroitin sulfate (PCL-g-COL-g-CS) biomaterial as a scaffold for cartilage tissue engineering. Biodegradable polyester, PCL, was utilized to fabricate three-dimensional (3D) porous scaffolds by particulate leaching. The PCL scaffold was then surface modified by chemical bonding of 1,6-hexanediamine and the grafting of a bioactive polymer layer of COL and CS with the help of 1-ethyl-3-(3-dimethyl- aminopropyl) carbodiimide (EDC)/N-hydroxysuccinimide (NHS) on the modified PCL surface to produce PCL-g-COL and PCL-g-COL-g-CS, respectively. The characteristics of these modified and grafted matrices were examined by ESCA, aminolysis, collagen and CS assay, porosity and water-binding capacity. Grafted COL and CS markedly increased water-binding capacity, and promoted the spreading and growth of chondrocytes. During a 4-week culture period, PCL-g-COL and PCL-g-COL-g-CS matrices both provided more cell proliferation, as determined by measuring the DNA assay. Additionally, a larger amount of secreted collagen and glycosaminoglycans (GAGs) appeared in the PCL-g-COL-g-CS matrices than in the control (PCL) as indicated by the histochemical sections via Hematoxylin and eosin (H&E) stain, Masson trichrome stain and Safranin-O stain. The chondrocytes were induced to function normally; the cell phenotype was maintained, and the GAGs and collagen in the PCL-g-COL-g-CS scaffold were secreted in vitro. These results serve as a basis for future studies of the fabrication process and reveal the potential biocompatibility of the biomimetic matrix for regenerating articular cartilage or other organs.