Achieving ideal combination of high self-healing efficiency and good mechanical properties is of significance for the breakthrough in the application of self-healing materials. Herein, the functionalized castor oil-based waterborne polyurethane (DA-CWPU) was constructed based on “killing two birds with one stone” molecular design strategy with the addition of self-healing monomer D-A adduct. Firstly, D-A adduct containing flexible D-A bonds and rigid ring structure was prepared by D-A reaction with furfuryl alcohol (FA) and bismaleimide (BMI) as raw materials, which could not only effectively enhanced the self-healing ability of the material, but also ensured the strong mechanical properties. Then, DA-CWPU emulsion with favourable self-healing and mechanical properties was synthesized by the polymerization of castor oil (CO), isophorone diisocyanate (IPDI) and D-A adduct. The DA-CWPU film has preferable self-healing efficiency (93 % at 100 °C for 50 min), unique shape memory effect (rehabilitate after heating at 100 °C for 45 s), good toughness (485 MJ/m3), strong tensile strength (5.96 MPa) and sufficient elongation (115 %). At the same time, the self-healing DA-CWPU film can be recycled through solution casting. The sustainable castor oil-based waterborne polyurethane can be used as finishing agents for leather products, which realizes repeatedly self-healing in case of surface damage, greatly increasing the service life of the material and mechanical properties, providing a new approach for the development of mechanically robust self-healing materials.