Chitosan is a natural, biodegradable cationic polysaccharide, which has a similar chemical structure and similar biological behaviors to the components of the extracellular matrix in the biomineralization process of teeth or bone. Its excellent biocompatibility, biodegradability, and polyelectrolyte action make it a suitable organic template, which, combined with biomimetic mineralization technology, can be used to develop organic-inorganic composite materials for hard tissue repair. In recent years, various chitosan-based biomimetic organic-inorganic composite materials have been applied in the field of bone tissue engineering and enamel or dentin biomimetic repair in different forms (hydrogels, fibers, porous scaffolds, microspheres, etc.), and the inorganic components of the composites are usually biogenic minerals, such as hydroxyapatite, other calcium phosphate phases, or silica. These composites have good mechanical properties, biocompatibility, bioactivity, osteogenic potential, and other biological properties and are thus considered as promising novel materials for repairing the defects of hard tissue. This review is mainly focused on the properties and preparations of biomimetically mineralized composite materials using chitosan as an organic template, and the current application of various chitosan-based biomimetically mineralized composite materials in bone tissue engineering and dental hard tissue repair is summarized.