Ti-doped MgB2/Cu tapes with Ta as a buffer layer were prepared through the in situ powder in tube method by using Mg, Ti, and B powders. The phase compositions, microstructure features, and superconducting properties were investigated by x-ray diffraction, scanning electron microscope, and superconducting quantum interference device magnetometer. It is found that TiB2 phase was formed in Ti-doped MgB2 tape. Magnetization measurement results show that the critical transition temperature of MgB2/Ta/Cu tape with Ti doping is around 38 K. The irreversibility field Hirr and critical current density Jc can be greatly enhanced by Ti doping. Hirr of the Mg0.9Ti0.1B2 tape is as high as 7.4 T at 10 K. The high critical current density Jc of 1.5x106 A/cm2 (10 K, self field) and 9.3x105 A/cm2 (20 K, self field) are obtained in the Mg0.9Ti0.1B2 tape. In addition, a suitable amount of Ti doping can lead to a high density and fine grain size of MgB2, which may be the reason for high Jc in Ti-doped MgB2 tapes.