A shape memory polyurethane (SMPU) with a transition temperature of $28^{circ}C$ was synthesized to investigate its fiber formation characteristics. Based on the thermal analysis a melt spinning process was designed, from which mono- and multi-filaments of SMPU fibers were manufactured. The shape memory performance of both SMPU film and fibers was evaluated using a thermo-mechanical cyclic test. The results revealed that SMPU fibers show similar shape memory behavior to that of SMPU film. The effect of post treatments such as annealing, drawing and heat-set on the shape memory performance of SMPU fibers was investigated and their effects on the micro-structural change of SMPU fibers were analyzed using a molecular configuration model. It was demonstrated that the properties of SMPU fibers can be tailored using these post treatments, thereby shape memory woven fabrics can be developed using SMPU fibers.