Biologically inspired design is based on inspiration, learning, and mimicking strategies from nature to solve engineering problems. This paper proposes a methodology for developing guidelines for the utilisation of topology optimisation in biologically inspired design. The inspiration comes from the way biological structures transfer loads, which is considered when modelling geometry and boundary conditions in the topology optimisation process. Guidelines were developed for eight biologically inspired structures, followed by proposed steps for applying these guidelines in the design of new products. The practical application of these steps is demonstrated and validated through two case studies: the creation of a concept for a biologically inspired car rim and a biologically inspired chair.