Ag- and/or Ti-doped apatitic-tricalcium phosphate powders were synthesized by wet chemical precipitation method. Regardless of the element composition, calcination of the Ag- and/or Ti-doped apatitic tricalcium phosphate powders at 900 °C gave phase-pure β-tricalcium phosphate. Cumulative release of Ca(II) and Ag(I) ions in TRIS-HCl buffer solution was determined. Increase of the solubility of the β-tricalcium phosphate was observed with the addition of Ti. Furthermore, prolonged (up to 28 days) release of the Ag(I) ions from the Ag-doped and the Ag- and Ti-co-doped β-tricalcium phosphate was observed. Minimum inhibitory concentration and antibacterial activity of the Ag- and/or Ti-doped β-tricalcium phosphate powders against Gram-positive Staphylococcus aureus was determined. It was observed that the addition of both, Ti and Ag, confers antibacterial properties of the β-tricalcium phosphate against Staphylococcus aureus.