The long-term goal of this research work is to fabricate mechanically robust, dimensionally accurate, and porous bone scaffolds for the treatment of osseous fractures in clinical practice. In pursuit of this goal, the objective of the work is to introduce a robust, image-based method for characterization of the porosity and dimensional accuracy of bone scaffolds, fabricated using pneumatic micro-extrusion (PME) process. PME is a material-extrusion additive manufacturing process, which has emerged as a high-resolution method for the fabrication of biological tissues and organs. The PME process allows for non-contact, multi-material deposition of a wide range of functional bio-inks for tissue engineering applications. The presented method is unique in the sense that it is capable of detecting gradual pores from a single camera image under a robust set of lighting conditions on the basis of optimized edge detection and consolidation algorithms. Hence, the proposed method allows for not only detection of scaffold pores, but also quantification of pore size and assessment of the dimensional accuracy of fabricated bone scaffolds. In this work, besides, various porosity measures (such as surface porosity, average pore area, and symmetry) were defined, aiding in quantification of bone scaffold morphology. The proposed method was validated based on PME-fabricated bone scaffolds, composed of polycaprolactone. Overall, the outcomes of this work pave the way for high-resolution fabrication of patient-specific, structurally complex, and porous bone scaffolds with tunable medical and functional properties for the treatment of bone fractures.