Meniscal injuries are increasing dramatically with the aging of the population and the prevalence of sports. Tissue engineering technology is the most promising method for the treatment of meniscal injuries, but the preparation of long-term and durable meniscal scaffolds with mechanical and tribological properties like natural articular cartilage remains a great challenge. Here, inspired by the structure and lubrication mechanism of the meniscus, a durable meniscus scaffold with bionic 3D structure, self-lubrication, and intelligent drug release function is prepared. An elastomer-hydrogel composite consisting of a direct ink writing (DIW) printed elastomer skeleton and a hydrogel matrix is prepared for the meniscus scaffold. The bionic 3D structure of the scaffolds is realized by combining computer-aided structural design and 3D printing technology. The self-healing ability obtained by incorporating dynamic covalent bonds, and the robust interface achieved by co-curing of the elastomer and hydrogel resins, ensure the stability and durability of the composite meniscal scaffolds. Taking advantage of the coexistence of aqueous and oily phases in the emulsion-type hydrogel resin, a hydrophobic phospholipid is loaded into the hydrogel, and achieves excellent boundary lubrication of the composite through its fiction-response release and self-assembly. Moreover, the meniscus scaffolds enable intelligent drug release to adapt to the physiological characteristics during inflammation. In vivo tests in rabbit models validate the protective effect of the scaffold on cartilage. These methods and concepts provide a solid foundation for the preparation of bionic tissue scaffolds.