To enhance the environmental sustainability and pavement performance of steel bridge deck paving, a novel semi self-compacting cold mix polyurethane mixture (CMPU-10) for steel bridge deck paving was specifically designed and evaluated. Herein, this study presents the first comprehensive documentation of the research process involved in the mix design of CMPU-10. Initially, based on the theory of maximum density curve, a gradation with a Talbot index (n) of 0.40 was identified as the preliminary gradation for designing CMPU-10 by void ratio, compressive strength and slump tests. Subsequently, the aggregate grade-by-grade filling test revealed the critical influence of sieve sizes (0.075 mm, 0.6 mm, and 2.36 mm) on the mixture dense degree. From these findings, an in-depth analysis of the effects of aggregate passage under the key sieve on the degree of mixture density, compressive strengths, and flow properties led to the determination of the gradation range of CMPU-10. The optimum binder-aggregate ratio for the median gradation was determined to be 9.2%. Finally, wheel tracking, semi-circular bending (SCB) and freeze-thaw splitting tests showed that the designed CMPU-10 exhibits superior high-temperature stability performance, low-temperature cracking resistance and moisture susceptibility compared to the TAF epoxy asphalt mixture (EA-10). This paper not only provides a new potential low-carbon material for steel bridge deck paving projects, but also establishes a theoretical foundation for the optimization design and promotion polyurethane mixture.