The work aims to review the preparation and properties of self-healing PU elastomers, provide guidance for the preparation of polymers with high healing efficiency and indicate the future development trends of self-healing materials. Recent advancements of self-healing PU elastomers were collected and analyzed based on their healing mechanisms. The preparation technologies and property indexes of typical self-healing PU elastomers were summarized. According to the healing mechanisms of PU elastomers, the preparation and properties of intrinsic (such as Diels-Alder reaction, disulfide bonds, hydrogen bonds, et al) and extrinsic (microcapsules) self-healing PU elastomers were reviewed. The healing efficiency of self-healing PU elastomers was discussed. Although a number of literatures about self-healing PU elastomers based on different dynamic bonds were reported, it is still a great challenge to develop materials with high healing efficiency. The work proposes approaches to enhance the mechanical properties of self-healing PU elastomers and provides guidance for balancing the healing property and mechanical properties of self-healing elastomers.