To solve the problem of soft composites with high puncture resistance and self-healing at ambient temperature. A room-temperature self-healing thermoplastic polyurethane (TPU) coating was successfully synthesized through thoughtful phase modulation, and a type of puncture-resistant composite material was innovatively prepared by compositing TPU with high-performance aramid fabrics. The self-healing TPU coating formed a strong matrix-fiber interface through intermolecular hydrogen bonding (Hbonds) with aramid fibers. Experimental results showed that the maximum spike-puncture force and maximum knife-stab force of the composite were 14.69 and 4.22 times higher than those of pure aramid fabrics, respectively. And the self-healing efficiency of the spike stab resistance is as high as 44.91% and the self-healing efficiency of the knife stab is as high as 66.98% after 48h at 30 °C. Moreover, the room-temperature dynamics of the multiple dynamic bonds in this self-healing TPU coating positively affected the composite, which acquired an excellent ability to resist the damage inflicted by the knife-tip intrusion excellently. In conclusion, this study provided methods of researching multifunctional individual soft-stabbing protection equipment.