Cartilage morphogenesis is a prerequisite for skeletal development and maintenance. The morphogenesis of cartilage determines the shape of bones, and joints including articular cartilage, ligaments, and tendon. This article reviews the recent advances in cartilage-derived morphogenetic proteins (CDMPs) and related bone morphogenetic proteins (BMPs). Cartilage-derived morphogenetic proteins (CDMPs) are related to BMPs and are critical for cartilage and joint morphogenesis. Cartilage morphogenesis is a multistep cascade that includes factors for initiation, promotion, and maintenance of cartilage phenotype. The extracellular matrix of cartilage consists of a constellation of macromolecules such as collagens, proteoglycans, and glycoproteins. Morphogens bind to extracellular matrix components and assemble a morphogenetic scaffold. Recent advances in CDMPs may aid in articular cartilage repair and regeneration.