Density gradation of foam structures has been investigated and found to be a practical approach to improve the mechanical efficacy of protective padding in several applications based on nature-based evidence of effectiveness. This research aims to disclose a discrete gradation approach without adhesives by relying on the properties of the frothed foam slurry to bond and penetrate through previously cured foam sheets naturally. As confirmed by electron microscopy observations, bilayer-and trilayergraded elastomeric polyurea foam sheets were fabricated, resulting in seamless interfaces. The mechanical performance of seamless, graded foam samples was compared with monolayer, mono-density benchmark foam, considered the industry standard for impact mitigation. All foam samples were submitted to compressive loading at a quasi-static rate, reporting key performance indicators (KPIs) such as specific energy absorption, efficiency, and ideality. Polyurea foams, irrespective of gradation and interface type, outperformed benchmark foam in several KPIs despite the drastic difference in the effective or average density. The average compressive stress−strain curves were fitted into empirical constitutive models to reveal critical insights into the elastic, plateau, and densification behaviors of the tested foam configuration. The novelty of these outcomes includes (1) a fabrication approach to adhesive-free density-graded foam structures, (2) implementation of a diverse set of KPIs to assess the mechanical efficacy of foams, and (3) elucidation of the superiority of polyurea foam-based lightweight protective paddings. Future research will focus on assessing the dynamic performance of these graded foam structures under impact loading conditions at a wide range of velocities.