In this study, a series of castor oil-based anionic waterborne polyurethane (CWPU) systems, which it has been suggested may be suitable for use as green elastomers with diverse applications in films and coatings, was prepared by modified with O-carboxymethyl chitosan (CS) as not only a reinforcing filler, but a chain-extender of polyurethane prepolymer to enhance the properties of polyurethanes. Moreover, not only was the system obtained with castor oil-based polyol in the absence of a catalyst, but it was maintained with low viscosity by using acetone instead of toxic methyl ethyl ketone (MEK) during the synthesis process. The sizes, zeta potential, chemical formation, and morphology of the CWPU-CS composites had been investigated by dynamic light scattering (DLS), infrared spectroscopy (IR), and scanning electron microscopy (SEM). Moreover, the results show that the modification allows to enhance storage/loss modulus, tensile properties, thermal stability at high temperature, and biocompatibility of CWPU and CWPU/CS nanocomposites according to various contents of CS.