Effect of cross-linking agent on the shape memory and mechanical property of polyurethane (PU) block copolymer is comprehensively investigated. The selected chemical cross-linking agents are glycerol, 1,2,6-trihydroxyhexane, and 2,4,6-trihydroxybenzaldehyde that are differentiated from each other in having remote hydroxyl group and aromatic ring. Significant increase in maximum stress was observed for all of the cross-linked PUs, although the cross-linker structure was different. Structural change of PU after cross-linking as evidenced by differential scanning calorimetry and infrared spectra was not detected, suggesting that interaction between PU chains remained intact. Shape recovery went to as high as 95 % after cross-linking for all of the cross-linking agents, and shape retention did not improve even if cross-linker was used. The remarkable increase in shape recovery and maximum stress definitely originated from the employment of a cross-linking agent, and the effect of different cross-linker structure on shape memory and mechanical property is discussed.