Background Although the wide application of robot-assisted radical prostatectomy (RARP) in recent years, studies about long urinary continence were few. In this study, we aimed to examine the outcomes of continence rates (CRs) and determine the predictive factors of early and late urinary incontinence (UI) in patients with prostate cancer (PCa) undergoing RARP.Methods This retrospective study included 650 patients treated with RARP who completed perioperative data and at least one year of follow-up from January 2009 to November 2017. We analyzed the preoperative, intraoperative, and postoperative parameters of the patients. Continence was defined as no pad use. CRs from one to 48 months postoperatively were examined. Logistic regression analysis was performed to evaluate the associations between the risk factors and UI in the early and late stages.Results CRs of the patients at one, three, six, 12, 24, 36, and 48 months postoperatively were 40.62%, 60.92%, 71.38%, 78.77%, 79.96%, 79.51%, and 76.50%, respectively. There were no significant differences in CR from 12 to 48 months postoperatively ( P =0.766). Logistic regression analysis proved that pelvic lymph node dissection (PLND) was a significant predictor of UI at one month, while age was an independent predictor of UI at six and 12 months, respectively. Other variables were not statistically significant predictors.Conclusions Our results demonstrated that CR gradually improved with time within one year and stabilized one year after the surgery. PLND and age were significant determinants of continence in the early and late stages, respectively. These parameters could be used for preoperatively identifying patients at high risk for UI and counselling about postoperative expectations for urinary continence.