Although waterborne polyurethane pressure-sensitive (PSA) has achieved great progress, achieving robust effective adhesion on the wet substrate surface is still challenging. Herein, we developed a humidity-insensitive waterborne polyurethane pressure-sensitive adhesive through the modification of biobased castor oil and 3-aminopropyl triethoxysilane (APTES) as the end-capper. Improved bonding property on wet substrate via drainage of hydrophobic groups led to better humidityinsensitive adhesiveness. The results exhibited exceptional bonding performance (∼ 3.3N/25 mm) on the moist surface of the steel in the environment with a humidity of 100 % RH (Relative Humidity). Especially, the 180°peel forces of siloxane-terminated castor oil-based waterborne polyurethane (SCWPU) respectively enhanced by 13.33 % and 73.68 % compared with the blank sample when the air humidity increased from 50 % RH to 100 % RH. Silicone had the advantages of low surface energy, good heat resistance and good oxidation resistance. The heat resistance could be improved by introducing silicone into waterborne polyurethane. Tested by the TGA, the SCWPU3 PSA demonstrated great thermal stability (T HRI = 144.32 °C). Besides, the PSA also exhibited low water absorption (20.6 %), and eligible viscoelasticity properties. These findings provided an impetus for the development of humidity-insensitive PSA.