Methoxy poly(ethylene glycol)poly(L-histidine)poly(lactide) (mPEG45PH30PLA82) triblock copolymers self-assemble into nanoparticles by sterocomplexation. The properties of the stereocomplex nanoparticles including morphology, stability, and biocompatibility are investigated. The results reveal that the stereocomplexation between PLLA and PDLA segments could prevent the aggregation of the nanoparticles when the pH value is around 6.8. The mean diameter of the stereocomplex nanoparticles is stabilized at about 100 nm when the pH values are changed from 7.9 to 5.0. The cytotoxicity of the stereocomplex nanoparticles is evaluated, and the results demonstrate that the stereocomplexation could decrease the cytotoxicity of the PDLA segments.