Polyimide aerogel, presenting an outstanding new material for lightweight protective thermal insulation, has garnered significant attention in the aerospace field. Despite its potential, due to the high production cost of the supercritical drying method used for its preparation, its widespread application is limited. In this research, a series of lightweight polyimide aerogels (F-PIAs, 3,3',4,4'-biphenyl tetracarboxylic dianhydride (s-BPDA) and 4,4'-diaminodiphenyl ether (ODA)) with excellent thermal protection properties were prepared by lyophilization. The findings indicated that F-PIAs (Freeze-dried polyimide aerogels) exhibited comparable physical characteristics to S-PIAs (Supercritical-dried polyimide aerogels), while their preparation cost was even more economical. F-PIAs exhibits excellent flexible and compression behavior (compression strength up to 1.16 MPa, modulus up to 12.8 MPa), which provide a great structural basis for the production of molded thermal insulation protective materials. The average pore diameter of F-PIAs is in the range of 7∼11 nm. The nanoporous structure leads to the gas within the pores of the aerogel producing the Knudsen effect, thereby significantly enhancing the thermal insulation performance of the aerogel. The thermal conductivity of F-PIA-4 (Freeze-dried polyimide aerogels with a solid content of 4%) at room temperature is as low as 0.023 W·m−1·K−1, which is superior to the PIAs (0.043 W·m−1·K−1) prepared by lyophilization in literature. Its thermal diffusion coefficient changes from 0.108 mm2·s−1 to 0.18 mm2·s−1 in the temperature range of 27°C to 200°C, demonstrating good thermal insulation performance at high temperatures. Meanwhile, after heating on a 150°C flat plate for 11 min and 41 s, the surface temperature of F-PIA-4 was only 36.2°C, further verifying its excellent thermal insulation performance. The results of the TGA experiment on F-PIA-4 demonstrated the high-temperature stability of aerogel (Td5% is higher than 523°C, Td10% is higher than 566°C). The exceptional properties of F-PIAs hold significant practical reference value in helping to reduce the manufacturing cost of high-performance aerogel thermal insulation materials, thereby enabling their widespread application in aerospace, military, and civil field.