Scaffold is a 3D porous structure that is made of different materials, such as synthetic and natural polymers. It plays the role of a synthetic extracellular matrix and permits adhesion, proliferation and differentiation of the cells. Porosity and pore size are the important factors for any 3D scaffold used in bone tissue engineering. In this study, porous scaffolds were prepared by adding hydroxyapatite (HA) nanoparticles as filler to the polymeric matrix of polycaprolactone (PCL) blends with two different molecular weight by using supercritical CO₂ (ScCO₂) foaming method. The effect of different parameters such as CO₂ pressure, ratios of the polymers and amount of the filler on the scaffold properties was investigated. The results showed that porosity increased with increment of pressure and decreased with increasing the ratio of the high molecular weight PCL to the low molecular weight PCL in the scaffolds and also HA content. Optimum condition for obtaining adequate porous scaffold of HPCL/LPCL/HA occurred at 140 bar and 45 °C. The physical and mechanical properties of the prepared scaffolds were characterized using DSC, XRD, FTIR, SEM, contact angle and compression test. By analyzing the results of these tests, optimum sample for cell culture was selected. The biocompatibility of the selected HPCL/LPCL/HA scaffold (HPCL/LPCL 60/40 containing 2.5% HA) was assessed in vitro by using human mesenchymal stem cells (hMSCs).