The inorganic composition of natural bone tissue is mainly calcium phosphate and consists of a variety of other elements necessary to maintain life activities to ensure the normal growth and development of bone tissue. In the preparation of calcium phosphate biomaterials, elemental doping can effectively regulate the morphology of calcium phosphate and have antibacterial properties, immune regulation, angiogenesis, osteoinduction and other biological functions. This review represented the regulatory effects of single-doping or co-doping of Mg, Zn, Sr, Cu, Ag, Co, Ag, Mn, and rare earth elements as well as Se, Si, and F in a variety of calcium phosphate on the structural morphology and biological function of materials. In addition, the future research work of calcium phosphate biomaterials was also proposed to provide a reference for the future research of novel scaffolds in tissue engineering.