A comfortable mattress can create a good sleep environment, but the thermal behaviour of the interaction between the human body and mattress materials is still not well understood. The effect of mattress materials on human–mattress interface temperature and human thermal state was evaluated by subjective questionnaire and measurements to detemine the human–mattress interface temperatures of the whole body and various locations of the body (WTH-M and ETH-M). The woollen fabric and polymeric foam of mattresses were evaluated as optimal cushion materials; these were indicated by measurements at 15.5 and 20°C, due to the higher WTH-M and ETH-M. Moreover, the interface temperatures measured at the back, buttock and thigh were higher with most materials than at other parts of the body, indicating a lower temperature response at the body extremities due to the body–mattress interface. Under the cold climate, people would prefer warm thermal sensation rather than the neutral thermal feeling. There should be more consideration on the thermal insulation of the extremities such as the feet. The human thermal response was not only affected by mattress materials, but also by body parts and indoor air temperatures. These findings are important to understand the heat transfer and human thermal comfort requirements, providing a comfortable thermal environment to ensure sleep quality.