Considering the structural complexity of the native artery wall and the limitations of current treatment strategies, developing a biomimetic tri-layer tissue-engineered vascular graft is a major developmental direction of vascular tissue regeneration. Biodegradable polymers exhibit adequate mechanical characteristics and feasible operability, showing potential prospects in the construction of tissue engineering scaffold. Herein, we present a bio-inspired tri-layer tubular graft using biodegradable polymers to simulate natural vascular architecture. The inner layer made of polycaprolactone (PCL) nanofiber possesses high tensile strength and contributed to endothelial cell adhesion and proliferation. The middle layer consisted of poly(lactic-co-glycolide) (PLGA) with a three-dimensional porous structure is appropriate for vascular smooth muscle cells (SMCs) penetration. The polyurethane (PU) was selected to be the outer layer, aiming to hold the entire tubular structure, suggesting superior mechanical properties and ideal biocompatibility. Adhesion between independent layers is achieved by thermal crosslinking. The compliance, burst pressure and suture retention force of the tubular scaffold were 2.50 ± 1.60%, 2737.73 ± 583.41 mmHg and 13.06 ± 1.89 N, respectively. The in vivo study of subcutaneous implantation for 8 weeks demonstrated the biomimetic tri-layer vascular graft could maintain intimal integrity, cell infiltration, collagen deposition and scaffold biodegradation. Overall, the biomimetic tri-layer vascular graft promises to be a potential candidate for vascular replacement and regeneration.