The present invention relates to a method for preparing a cell-derived ECM scaffold to which chondrocytes or stem cells are attached, a method for cartilage regeneration by tissue engineering, which comprises using the cell-derived ECM scaffold, and a therapeutic composition for treating cartilage disorder, which contains the ECM scaffold as an effective component. More specifically, the present invention relates to a method for cartilage regeneration by tissue engineering, which comprises transplanting ECM scaffold, having chondrocytes or stem cells attached thereto, into cartilage defects, and a therapeutic composition for treating cartilage disorder, which contains the ECM scaffold, having chondrocytes or stem cells attached thereto, as an effective component. According to the present invention, when the inventive ECM scaffold having chondrocytes or stem cells attached thereto is transplanted into a cartilage defect, mature articular cartilage having the same appearance and characteristics as those of natural cartilage tissue, can be regenerated without side effects such as inflammatory responses.