Irregular porous structures for guided bone regeneration applications have gained increasing attention as they are similar to human bone and more suitable for bone tissue growth. However, pore irregularity as a critical characteristic has been poorly explored. This study proposed a method for parametrically designing porous scaffolds based on a Voronoi tessellation which were manufactured by selective laser sintering (SLS) using the polyamide 12 (PA12) material. The deformation mechanism and energy absorption properties of the prepared Voronoi scaffolds were investigated by quasi-static compression experiments. The results demonstrated that the Voronoi scaffold underwent bending deformation subsequent to transverse expansion under compression, and the Voronoi scaffold simultaneously had been indicated to be effective in improving the carrying capacity and energy absorption performance. Subsequently, computational fluid dynamics (CFD) and cell proliferation tests were introduced to comprehensively assess the influence of the scaffolds on cell growth. CFD analysis showed that the permeability of the surveyed scaffolds is between 3.65 × 10⁻⁸ and 12.05 × 10⁻⁸ m² similar to that of natural cancellous bone. The cell test expressed that the scaffold exhibits good cell activity, which can be used to promote cell adhesion and migration with superior potential for development and application.