Titanium(Ti) is an ideal bone substitute due to its superior bio-compatibilities and remarkable corrosion resistance properties. However, in order to improve the osteoconduction and osteoinduction capacity in clinic applications, different kinds of surface modifications were usually applied for the Ti alloys. In this study, we fabricated a tightly attached PDA-assisted Fe3O4 nanoparticles coating on Ti with magnetic properties, aiming to improve the osteogenesis of the Ti substrates. The PDA-assisted Fe3O4 nanoparticles coatings were characterized by utilizing scanning electron microscopy(SEM), energy dispersive spectroscopy(EDS), atom force microscope(AFM), water contact angle measurement. Cell attachment and proliferation rate of the hBMSCs on the Ti surface were significantly improved with the Fe3O4/PDA coating when compared to the pure Ti without coatings. Furthermore, the results of in vitro ALP activity at 7, 14 days and ARS staining at 14 days both showed that Fe3O4/PDA coating on Ti promoted the osteogenic differentiation of hBMSCs. Moreover, hBMSCs co-cultured with the Fe3O4/PDA-coated Ti for about 14 days also exhibited significantly higher mRNA expression level of alkaline phosphatase(ALP), osteocalcin(OCN) and runt-related transcription factor-2(RUNX-2). Our in vitro results revealed that the present PDA-assisted Fe3O4 nanoparticles surface coating would be an innovative method for Ti surface modification and showed great potential for clinical application.