Pulp regeneration is a new treatment approach for pulp inflammation or necrosis of young permanent teeth and induces apical foramen closure, root canal wall thickening, and root length increase. To improve the success rate of dental pulp regeneration, suitable scaffolds are fundamental to provide proper three-dimensional space and regulate stem cell differentiation, proliferation, and metabolism. At present, many studies have shown that a variety of scaffolds have potential for pulp regeneration. These scaffolds originate from biological extraction or artificial synthesis, and each has its own advantages. Biological extraction scaffolds mainly include blood clot, platelet rich plasma, platelet rich fibrin, polysaccharides, collagen, silk, acellular extracellular matrix, etc. Synthetic scaffolds mainly include polymers, bioceramics and composite scaffolds. In this review, we searched the literature on dental pulp regeneration in the past fifteen years and summarized the research progress on the performance and application prospects of above-mentioned various dental pulp regeneration scaffolds.