As a new organic polymer material, polyurethane is known as "the fifth largest plastic", which is widely used in light industry, construction, automobile, aviation and aerospace fields because of its excellent comprehensive properties. However, in the process of processing or using, it is hard to avoid structural damage due to external force, which greatly reduces the mechanical properties of its materials and the service life of its products. Reversible covalent bond is a kind of dynamic covalent bond which can realize reversible fracture and recombination under a certain conditions. Therefore, the introduction of it into the polyurethane molecular chain not only has a small impact on the mechanical properties of the material, but also can give it a self-healing function, thereby significantly improving the service life and added value of its products. In this paper, the self-healing mechanism and application research progress of self-healing polyurethane based on reversible covalent bonds are reviewed, and some problems in the research of its self-healing materials are pointed out, and the future development trend of it is prospected.