We construct and test the polarization-sensitive optical coherence tomography (PS-OCT) system for imaging porcine and human articular cartilages. PS-OCT is a new imaging technology that provides information regarding not only the tissue structures but tissue components that show birefringence such as collagen. In this study, we measure the cartilage thickness of the porcine joint and the phase retardation due to collagen birefringence. Also, we demonstrate that changes of the collagen fiber orientation could be detected by the PS-OCT system. Finally, differences between normal and damaged human articular cartilage are observed using the PS-OCT system, which is then compared with the regular histology pictures. As a result, the PS-OCT system is proven to be effective for diagnosis of the pathology related to the cartilage. In the future, this technology may be used for discrimination of the collagen types. When combined with endoscope technologies, the PS-OCT images may become a useful tool for in vivo tissue testing.