The recyclable, shape-memory, and self-healing soy oil-based polyurethane (S-PU) networks were constructed by the thermoreversible Diels-Alder (DA) reaction between S-PU (sealed with furfuryl alcohol) and 1,5-bis(maleimido)-2-methylpentane. The DA and retro-DA reactions between furan and maleimide were investigated by Fourier transform infrared spectroscopy, differential scanning calorimetry, solubility, and recycle testing. Moreover, the shape-memory properties of the S-PU networks were studied by qualitative recovery testing and quantitative cyclic tensile testing. Furthermore, the self-healing properties of S-PU networks were confirmed by cut, scratch, and tensile testing. The results showed that, compared to the traditional S-PU, the novel S-PU prepared in this work was recyclable and self-healing. And although both of them have shape-memory effect, the novel S-PU has a higher shape fixed rate and shape recovered rate than the traditional S-PU.