Surfaces showing desirable under-liquid superlyophobicity have attracted great interests due to their high potential applications, especially in the liquid separation. Nevertheless, it still remains a challenge to put forward a universal strategy to fabricate robust under-liquid superlyophobic surfaces with self-healing function. Herein, a highly durable and self-healing under-liquid superlyophobic coating is developed that can be applied onto various substrates (e.g., cotton, polyester, filter paper, wool, hemp, sponge, lyocell, etc.) via a two-step coating process, through depositing silica nanoparticles partially grafted by octadecylamine followed by crosslinking of polyurethane macromolecules containing polysorbate20. The obtained substrates show superamphiphilic in air, under-water superoleophobic and under-oil superhydrophobic properties. High-efficiency separations of polar-nonpolar liquids, e.g., water-heavy oil, water-light oil, immiscible organic liquid mixtures, can be achieved when the coated fabric was used as the separation membrane. Moreover, such under-liquid superlyophobic coating demonstrates excellent durability against repeated washing, long time UV irradiation, organic solvent attack, high temperature and plasma treatment. Even the coating surface is damaged chemically or physically, its original superwetting property can be recovered by a short time of heating treatment. This work could provide a guidance for developing durable under-liquid superlyophobic materials with self-healing ability for diversified applications, such as liquid separation, micro-fluid manipulation, anti-adhesive surfaces.