In situ TiO2 nanofiber arrays have been successfully produced directly on a Ti-6Al-4V substrate by using thermal oxidation under a limited supply of oxygen. Their morphology, elemental composition, crystal structure, surface roughness and surface wettability were characterized by field-emission scanning electron microscope (FESEM), energy-dispersive X-ray spectroscopy (EDX), X-ray diffractometer (XRD), atomic force microscope (AFM) and contact angle goniometer, respectively. The results of material characterization studies revealed that TiO2 nanofibers possessed greater surface roughness and wettability, as well as the degree of crystallinity. In vitro characterization have also been evaluated by using bovine articular chondrocytes on the resulting TiO2 nanofibrous surface at different time points. Cell adhesion was observed qualitatively by using FESEM and cell proliferation was determined quantitatively by using AlamarBlue reduction assay. The results showed that the TiO2 nanofibrous substrate triggers enhanced chondrocytes adhesion, proliferation, and production of extracellular matrix (ECM) fibrils compared to untreated substrate. These results suggest that the oxidation process produces a surface structure to which chondrocytes affinity, and thus this surface would has potential use in implants designed for cartilaginous applications.