Polyureas have been widely applied in many fields, such as coatings, fibers, foams and dielectric materials. Traditionally, polyureas are prepared from isocyanates, which are highly toxic and harmful to humans and the environment. Synthesis of polyureas via non-isocyanate routes is green, environmentally friendly and sustainable. However, the application of non-isocyanate polyureas is quite restrained due to their brittleness as the result of the lack of a soft segment in their molecular blocks. To address this issue, we have prepared polyester polyureas via an isocyanate-free route and introduced polyester-based soft segments to improve their toughness and endow high impact resistance to the polyureas. In this paper, the soft segments of polyureas were synthesized by the esterification and polycondensation of dodecanedioic acid and 1,4-butanediol. Hard segments of polyureas were synthesized by melt polycondensation of urea and 1,10-diaminodecane without a catalyst or high pressure. A series of polyester polyureas were synthesized by the polycondensation of the soft and hard segments. These synthesized polyester-type polyureas exhibit excellent mechanical and thermal properties. Therefore, they have high potential to substitute traditional polyureas.