The invention discloses a preparation method of a polyurethane composite material with heat-resistant property, and relates to the technical field of preparation of polyurethane. The preparation method comprises the following steps of mixing epoxidated hydroxyl terminated polybutadiene, polytetrahydrofuran ether glycol, 4,4'-diphenylmethane diisocyanate, and dibutyltin dilaurate, heating to react,adding 3,5-dimethyl sulphide toluene diamine and dibromo neopentadiol, stirring to react, defoaming, drying and aging, so as to obtain a polyurethane prepolymer; adding the polyurethane prepolymer, phenolic resin, styrene, xanthophyll, white carbon black, nanometer silicon dioxide, kaolin and a plasticizer into a double-screw mixer, mixing, adding aluminum hydroxide, zinc borate, zinc stearate, avulcanizing agent and a vulcanizing accelerator, mixing, and discharging, so as to obtain the mixed material; molding and forming the mixed material, and radiating by 60Co gamma rays, so as to obtainthe polyurethane composite material. The polyurethane composite material has the advantages that the heat stability and the mechanical property are good, and the aging-resistant property is good.