This article proposes thermography as a non-contact diagnostic tool for assessing drive reliability. The application of this technique during the operation of the belt transmission with a heat-welded thermoplastic polyurethane V-belt was presented. The V-belt temperature changes depending on the braking torque load at different values of the rotational speed of the active pulley, which were adopted as diagnostic characteristics. In this paper, the surface morphology of the polyurethane (PU) belts was assessed on the basis of microscopic and hardness tests. A surface roughness tester was used to evaluate the surface wear. The surface morphology and topography of the materials was determined by scanning electron microscopy (SEM) and optical microscopy. It was found that the most favorable operating conditions occurred when the temperature values of active and passive connectors were similar and the temperature difference between them was small. The mechanical and structure results indicate that the wear of the PU belt was slight, which provided stability and operational reliability for V-belt transmission. The microscopic images lacked clear traces of cracks and scratches on the surface, which was confirmed by the SEM observations.