In order to biomimetic synthesize hydroxyapatite similar to natural bone. Hydroxyapatite (HAP) is biomimetic synthesized in simulated body fluid (SBF) by addition of imidazole-4,5-dicarboxylic acid grafted chitosan (IDACS). e effect of molar ratio of chitosan (CS) to imidazole-4,5-dicarboxylic acid (IDA) on preparation of HAP was investigated. e structure, size, and crystal phase of the obtained hydroxyapatite were observed by Fourier transform infrared spectroscopy, X-ray powder diffraction, and scanning electron microscopy. e results show that the molar ratio of CS to IDA is 1 : 3, the temperature is 37.0°C, the aging time is 48 h, the synthesized nanorod-like hydroxyapatite with diameter 20-30 nm, and length ranging from 75 to 120 nm presents excellent phase, which disperses well and is similar to the natural bone of HAP. e obtained HAP can be used to remove chromium(VI) by the orthogonal experiments, and the results indicated that the removal rate can reach 95.66% under the optimum conditions. ese results suggest that the morphology of the obtained HAP is more affected by the material ratio of chitosan to imidazole-4,5-dicarboxylic acid than its structure, and the obtained HAP can effectively remove Cr(VI), which provides a novel method for biomimetic synthesis of other biomaterials and application in the water purification.