The 3D bioprinting with stem cells has great prospect in organ or tissue repair. It constructs the 3D scaffolds with stem cells, growth factors and hydrogel biomaterials to regenerate the injured organs with the help of 3D bioprinter. However, the printable hydrogel biomaterials are deficient by considering the maintained activity of stem cells, biocompatibility of the materials and the printing process, fast gelation and so on. Collagen, an essential component of extracellular matrix in natural tissues, has emerged as a hydrogel material for 3D printing with great advantages in encapsulating stem cells. In this review, the gelation of collagen hydrogels in physical, ion-bonding and covalent-bonding ways and their advances in 3D bioprinting with stem cells for tissue engineering are highlighted.