Highlights * An elastic degradable polyurethane (PU) bearing pendent HSNGLPL peptide for TGF-β1 affinity binding mimics the extracellular matrix function to retain and release growth factors. * The pendant peptide sequence presented a high affinity for TGF-β1 retaining, even when the surface was pre-coated with other proteins. * The synthesized PU shows good extrusion processing ability and can be printed into 3D scaffolds with designed porous structures. * The released TGF-β1 from surface conjugating was tested by differentiation guiding experiments of ATDC5 cells in vitro and the regeneration of the surrounding tissue after implanting in vivo.