The Simons Observatory (SO) is a ground-based cosmic microwave background (CMB) survey experiment that consists of three 0.5 m small-aperture telescopes and one 6 m large-aperture telescope, sited at an elevation of 5200 m in the Atacama Desert in Chile. SO will utilize more than 60,000 transition edge sensors (TES) to observe CMB temperature and polarization in six frequency bands from 27-280 GHz. Common to both the small and large aperture telescope receivers (LATR) is the 300K-4K Universal Readout Harness (URH), which supports up to 600 DC bias lines and 24 radio frequency (RF) channels consisting of input and output coaxial cables, input attenuators and custom high dynamic range 40K low-noise amplifiers (LNAs) on the output readout coaxial cable. Each RF channel can read out up to 1000 TES detectors. In this paper, we will present the design and characterization of the six URHs constructed for the initial phase of SO deployment.