Bone and cartilage injuries are significantly increasing with population aging. Tissue engineering is considered an alternative and promising approach for alleviating osteochondral tissue injuries along with available therapeutic modalities. 3D- and 4D-printing fabrication protocols have been used to facilitate the production of bone/cartilage scaffolds that are similar to bone and cartilage microenvironments. In this regard, advanced biomaterials, including smart polymers and stimuli-responsive polymers are the first essential elements for improved bone/cartilage regeneration. Shape-memory polymers, are stimuli-responsive materials and are available in permanent and temporary structures. The application of shape-memory scaffolds can lead to providing in vivo-like conditions and improve cell bioactivity and phenotype acquisition. In this review article, we tried to highlight stimuli-responsive polymers and their application in osteochondral tissue engineering.