A series of novel self-colored blue waterborne polyurethanes (BPUs) were successfully synthesized by incorporating a self-made colored diol 1,4-bis(2-hydroethylamino)anthrancene-9,10-dione (BHAD) into the polyurethane backbone via step growth polymerization. FTIR, 1H NMR, ultraviolet-visible (UV-vis) spectroscopy were used to characterize BHAD and BPUs. Compared with BHAD, BPUs showed hypochromic change in UV-visible spectroscopy. The obtained BPUs have good thermal dye migration. The effect of BHAD content on BPUs’ emulsion stability, water resistance, mechanical properties, and thermal performance were investigated systematically by particle size analysis, water absorption ratio, tensile strength test, and thermogravimetric analysis.