Neem (Azadirachta indica) oil is a non-edible oil that contains azadirachtin, which can be used as a biopesticide. This study synthesizes bio-based polyurethane (PU) foam from neem and castor (Ricinus communis L.) oil at normal temperature and pressure. Neem oil can be reacted to narrow-distribution polyol by transesterification of oil and glycerol. Neem oil glyceride (NOG) can be used as polyol for bio-based PU foams and can be blended with castor oil homogeneously to reduce the cost of production. The composition of polyol was castor oil and 0 to 20% molar ratios of NOG. Hexamethylene diisocyanate trimer (Desmodur N) was used as isocyanate. The molar ratios of NCO/OH were set as 1.0, 1.5 and 2.0. The average hydroxyl contents of castor oil, neem oil and NOG were 2.7 mmol/g, 0.1 mmol/g and 5.1 mmol/g, respectively. The reaction time of bio-based PU foam could be adjusted between 5 to 10 min, which is acceptable for manufacturing. The densities of PU foams were between 49.7 and 116.2 kg/m3 and decreased with increasing NCO/OH and NOG ratios and decreasing neem oil. The ranges of specific compressive strength of foams were from 0.0056 to 0.0795 kPa·m3/kg. Increasing the NOG and neem oil ratio significantly enhanced the specific compressive strength in the low NCO/OH ratio. The solvent resistance and thermogravimetric (TG) results showed that the foams have high water and thermal stability. NOG can help to increase solvent resistance. Adding neem oil reduces the solvent resistance. The results indicated that increasing NCO/OH and NOG ratios increases the cross-linking density and hard segment content of PU foams. This investigation demonstrated that castor oil-based PU foams are improved by adding NOG to the polyol mixture. PU foam has excellent properties. Neem oil can be used in manufacturing processes to produce high-performance foams via a green synthesis process.