Structured regression on graphs aims to predict response variables from multiple nodes by discovering and exploiting the dependency structure among response variables. This problem is challenging since dependencies among response variables are always unknown, and the associated prior knowledge is non-symmetric. In previous studies, various promising solutions were proposed to improve structured regression by utilizing symmetric prior knowledge, learning sparse dependency structure among response variables, or learning representations of attributes of multiple nodes. However, none of them are capable of efficiently learning dependency structure while incorporating non-symmetric prior knowledge. To achieve these objectives, we proposed Continuous Conditional Dependency Network (CCDN) for structured regression. The intuitive idea behind this model is that each response variable is not only dependent on attributes from the same node, but also on response variables from all other nodes. This results in a joint modeling of local conditional probabilities. The parameter learning is formulated as a convex optimization problem and an effective sampling algorithm is proposed for inference. CCDN is flexible in absorbing non-symmetric prior knowledge. The performance of CCDN on multiple datasets provides evidence of its structure recovery ability and superior effectiveness and efficiency as compared to the state-of-the-art alternatives.