Polyurethane-based side-chain cholesteric liquid crystalline polymers (ChLCPs) with variable clearing temperatures were synthesized in a two-step reaction. The chemical structures of ChLCPs were confirmed by FT-IR and $^1H$-NMR spectroscopy. The mesogenic properties and phase transition behavior were investigated by means of differential scanning calorimetry (DSC), polarizing optical microscopy (POM), and X-ray diffraction measurements. The DSC studies show that the melting temperature and isotropic transition temperature of the ChLCPs increased with the weight percentage of cholesterol in the polymer. POM shows that the ChLCPs had a distinct spherulite structure that melted at about $140^{circ}C$, and these results are consistent with those of the DSC studies. The thermogravimetric studies show that the ChLCPs were stable up to $200^{circ}C$, though there was a reduction in the thermal stability as the weight proportion of cholesterol and glycerol in the polymer increased.