As a new grouting material, polyurethane has been used in the repair engineering of longitudinal joint distress of semi-rigid base asphalt pavement. It is necessary to study the bonding characteristics of the interface between polyurethane and road materials. In this paper, the interface characteristics of composite materials were considered from the two materials about pavement material and base material. Shear test and split tensile test were carried out on the specimens with different interface roughness and polyurethane density. Based on the test data, the strength models of shear strength and splitting tensile strength with roughness and density were established. The micro-characteristics of the composite interface were analyzed. Polyurethane formed a dense film at the interface, and the film thickness increases with the increase of density. The failure mode of the specimen was affected by the polyurethane film. In addition, the influence of normal stress is considered in the shear test, and the friction angle of the interface was analyzed. The stress-strain curve characteristics of shear test and split tensile test of two kinds of composite materials were summarized. The failure modes were generally three types: failure along the boundary of polyurethane material, failure along the boundary of base material, and joint failure of polyurethane material and base material along the interface. The research results provide a basis for better understanding the influencing factors and failure modes of the bonding characteristic between asphalt mixture, cement stabilized macadam and polyurethane materials.