Poly(dimethylsiloxane) (PDMS) was grafted onto polyurethane (PU), and Epichlorohydrin and Bisphenol A were attached to the free ends of PDMS groups and used to link the grafted PDMS to thereby introduce flexible crosslinks between the PU chains. The flexible crosslinks enhanced the crosslink density and solution viscosity of PU but did not change the melting and crystallization behaviors of the soft segments of PU. In particular, the flexible PDMS crosslinks increased the maximum tensile stress by up to 300% and the maximum tensile strain up to 180%. The shape recovery capability at 10°C and the shape retention capability at −25°C were maintained above 90% with the flexible crosslinking. Grafted PDMS moderately improved the low-temperature flexibility of PU due to its flexibility at low temperature. The flexible crosslinks of grafted PDMS successfully improved the tensile strength, shape recovery, and low-temperature flexibility of the PU.