The invention provides a mixed polyurethane crosslinked foam material and a preparation method thereof and relates to the technical field of foam materials. The mixed polyurethane crosslinked foam material comprises, by weight, 20-95 parts of mixed polyurethane, 5-80 parts of a vinyl copolymer, 0.1-5 parts of a crosslinker, and 0.5-15 parts of a foaming agent, and the mixed polyurethane has Mooneyviscosity of 10-150. The technical problem is solved that existing cast polyurethane foam material has defective regions, poor elasticity, high compressive permanent deformation and poor shrinkage; the mixed polyurethane and the vinyl copolymer are crosslinked and foamed under the action of the crosslinker and the foaming agent; the process is controllable, and pores are uniformly distributed; the prepared mixed polyurethane crosslinked foam material has low density, good elasticity, good wear resistance and slip resistance, low compressive permanent deformation, good shrinkage resistance, and excellent comprehensive performance, and can effectively meet the requirements of various fields.