Nanofibrous poly(D,L-lactide-co-glycolide) (PLGA)/gelatin/hydroxyapatite (HAp) composites (blending ratio; 0, 30, 70, and 100 wt% gelatin to PLGA combined with 20 wt% HAp) were electrospun for bone tissue engineering. The morphological, mechanical, surface, thermal and cellular growth properties of the nanofibrous composites were investigated. The amount of HAp was greater on the surface of the nanofibrous composites of PLGA and gelatin than that of the plain PLGA nanofibers. Scanning electron microscopy (SEM) showed that the nanofibrous composites were uniformly electrospun. The mean diameter of the electrospun nanofibrous composite increased with increasing gelatin content or the incorporation of HAp. HAp particles were distributed over the surface of nanofibrous composite in direct proportion to the amount of gelatin incorporated. In mechanical testing, gelatin incorporated HAp nanofibrous composites showed the highest elongation ratio compared to the other HAp incorporated composites under wet conditions. These nanofibrous composites were further investigated as a promising scaffold for bone tissue engineering. Cell proliferation assays and confocal laser microscopy showed that the cells could favorably attach and grow well on the surface of these scaffolds. These results highlight the potential of using nanofibrous PLGA/gelatin/HAp composites for bone tissue engineering.