Titanium (Ti) exhibits superior biocompatibility and mechanical properties but is bioinert, while hydroxyapatite (HA) possesses excellent osteogenesis and is widely used for the modification of Ti surface coatings. However, the synthesis of homogeneous and stable HA on metallic materials is still a major challenge. In this study, porous titanium dioxide nanotube arrays were prepared on Ti surface by anodic oxidation, loaded with calcium and phosphorus precursors by negative pressure immersion, and HA coating was formed by in situ crystallization of calcium and phosphorus on the surface by hydrothermal heating. Scanning electron microscopy (SEM), X‐ray diffraction (XRD), and bonding strength were conducted to confirm the surface characteristics of each group. The cell proliferation, mineralization degree, and alkaline phosphatase (ALP) activity of MC3T3‐E1 cells on samples were calculated and compared in vitro experiments. Cylindrical samples were implanted into rat femurs to evaluate biocompatibility and osteogenesis in vivo. The results showed that HA crystals successfully synthesized in TiO2 nanotubes, enhancing the bonding strength of HA coating and Ti substrate under negative pressure. Moreover, HA coating on Ti substrate remarkably enhanced cell proliferation and osteogenic differentiation activity in vitro, and improved new bone formation as well as osseointegration in vivo.