A novel method to prepare semi‐interpenetrating polymer network rigid cross‐linked poly(vinyl chloride) (c‐PVC) foams with improved shear toughness in the absence of anhydride components is reported. The cross‐linked network structure in the c‐PVC foams was composed of polyurea network modified by epoxy structure. The cellular morphology was characterized by scanning electron microscopy. Tensile, compressive, and shear properties of the foams were studied. The obtained c‐PVC foams showed high shear properties compared with the comparative samples with the same density and cellular morphology. Possible reactions during the preparation of c‐PVC foams were studied by means of Fourier transform infrared spectrometry and nuclear magnetic resonance measurements through the model experiments. The results showed that allophanate structure resulting from the reaction between isocyanate compounds and epoxy compounds formed in the molding step, which was included into the final cross‐linked network in the cross‐linking step. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2014, 131, 40567.