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Aqueous polyurethane dispersion (PUD) has attracted increasing attention in a wide range of industrial applications because of their versatile properties as well as ecofriendly nature. In this study, the aqueous PUD used in warp-knitted vamp printing was characterized by Fourier transform infrared spectra, dynamic light scattering, and laser Doppler electrophoresis. The mean diameter and zeta potential are 206.6 nm and −18.3 mV, respectively. The rheological behavior of aqueous PUD as a function of shear rate, temperature, and solid content was investigated experimentally. Besides, a new correlation model was proposed based on the Carreau equation and Arrhenius relation. The resulting model has high accuracy in viscosity estimation under complex conditions according to the prediction interval of 95%. Furthermore, the reasonable ranges of parameters were proposed theoretically for successful printing.