Functional gradient foam materials play a crucial role in meeting the diverse performance and functionality requirements of modern engineering. Density gradients enable the distribution of mechanical, dielectric, and optical properties within materials, exhibiting a gradient representation. However, creating density gradients within foams poses a significant challenge, especially for semi-crystalline polymers. The paper proposed a novel two-step foaming method for preparing polypropylene (PP) foams with density gradient structure (DGS). Initially, a pre-foaming process was conducted to prepare PP pre-foams with uniform structure (US) at low temperatures, followed by a secondary foaming process on partially saturated PP pre-foams to fabricate PP DGS foams. By adjusting the duration of partial saturation time, PP foams with various DGS can be achieved. Compared with the commonly used one-step foaming method and uniform foaming method in the literature, the DGS foams prepared by the two-step foaming method exhibit not only a significant enhancement in mechanical property but also achieve the lowest thermal conductivity, while maintaining comparable and outstanding sound insulation performance. Finally, a comprehensive evaluation model using COMSOL Multiphysics was developed for the DGS foams, providing insights for optimizing foam performance through process enhancements.