The incorporation of magnesium (Mg) in tricalcium phosphate (TCP) was prepared through a precipitation method followed by calcination at 850 °C in air. Calcium hydroxide, (Ca(OH)2), phosphoric acid, (H3PO4), and magnesium chloride (MgCl2.6H2O) with a Ca/P ratio of 1.5, were mixed as the precursor materials. The concentration of added Mg was varied with respect to calcium (Ca) precursor molarity as such Mg/(Ca +Mg) molar ratio was 0.05, 0.10, and 0.15, while the (Ca+Mg)/P ratio was maintained at 1.50 throughout the experiment. The influence of Mg-doped TCP on phase composition, chemical structure, and a functional group at different weight percentages were accomplished through X-ray diffraction (XRD), inductively coupled plasma optical emission spectroscopy (ICP-OES) and Fourier Transform Infrared Spectroscopy (FTIR) analyses. Based in the results of this research, the presence of magnesium led to the formation of Mg-doped calcium-deficient apatite (MgCDA) at 80°C and Mg-doped β-TCP at 850°C; the incorporation of Mg into the TCP phase causing an expansion of the lattice and increase in the lattice parameter. This result could be considered rather unusual.