Fully bio-based 3-dimensional porous scaffolds based on freeze-dried cellulose nanofibers (70–90 wt%) stabilized using a genipin crosslinked matrix of gelatin and chitosan were prepared. Morphology studies using scanning electron microscopy showed that the scaffolds have interconnected pores with average pore diameters of 75–200 μm and nanoscaled pore wall roughness, both favorable for cell interactions with cartilage repair. X-ray tomography confirmed the 3-dimensional homogeneity and interconnectivity of the pores as well as the fibrillar structure of the scaffolds. The compression modulus of the scaffolds (1–3 MPa) at room conditions was higher than natural cartilage (≈1 MPa). The lowered compression modulus of 10–60 kPa in phosphate buffered saline (PBS) at 37 °C was considered favorable for chondrogenesis. The current study therefore successfully addressed the challenge of tailoring the pore structure and mechanical properties simultaneously for cartilage regeneration. Furthermore, the scaffolds' high porosity (≈95%), high PBS uptake and good cytocompatibility towards chondrocytes are considered beneficial for cell attachment and extracellular matrix (ECM) production.