The repair of severe bone defects is still a formidable clinical challenge, requiring the implantation of bone grafts or bone substitute materials. The development of three-dimensional (3D) bioprinting has received considerable attention in bone tissue engineering over the past decade. But 3D printing has a limitation. It only takes into account the original form of the printed scaffold, which is inanimate and static, and is not suitable for dynamic organisms. With the emergence of stimuli-responsive materials, four-dimensional (4D) printing has become the next generation solution for biological tissue engineering. It combines the concept of time with three-dimensional printing. Over time, 4D printed scaffolds change their appearance or function in response to environmental stimuli (physical, chemical and biological). In conclusion, 4D printing is the change of the fourth dimension (time) in 3D printing, which provides an unprecedented potential for bone tissue repair. In this review, we will discuss the latest research on shape memory materials and 4D printing in bone tissue repair.