Well-defined diacylglycerol end-functionalized poly(N-isopropylacrylamide)s (PNIPAAm) and poly(N-vinylcaprolacam)s (PNVCL) with number-average molar masses (Mn) ranging from 1260 to 19 350 g·mol−1 were synthesized by reversible addition-fragmentation chain-transfer (RAFT) polymerization from xanthate-functionalized diacylglycerols (DAGs) containing palmitic or oleic acid moieties. The formation of polymeric nanoparticles (PNPs) and their thermoresponsive properties was studied. Phase separation temperature dependence on polymer molar mass and hydrophilic/hydrophobic ratio was investigated in phosphate buffer saline (PBS). Biological tests showed that the particles are non-hemolytic and highly compatible with representatives of immune cells - monocyte/macrophage THP-1 cells. The biocompatibility combined with the potential ability to modulate the cell membrane environment make the proposed polymers a promising foundation for drug carriers.