Polycarbonate diol (PCDL) with different molecular weights was synthesized from hexamethylene diisocyanate (HDI) and PCDL-2000, and three self-healing polyurethanes (PC-PUs) with different alicyclic-type hard-segment distributions were prepared by reacting PCDL as soft segments with isophorone diisocyanate (IPDI) and 1,4-butanediol (BDO). PC-PU was characterized by FTIR, XRD, TGA, AFM, 3D ultra- depth-of-field microscope, and electronic universal testing machine, the crystal structure, crystalline morphology, thermal stability, tensile properties and self-healing properties of PC-PU were tested, and the self-healing mechanism was investigated. The results showed that the crystallinity of PC-PU increased from 23.3% to 26.5%, the modulus of elasticity increased from 17.9 MPa to 62.7 MPa, the elongation at break decreased from 1420% to 1060%, and the tensile strength ranged between 18.6 MPa and 20.5 MPa as the distribution of the alicyclic-type hard segments was concentrated. Based on the hydrogen bonding and the thermal movement of the soft segments, the self-healing efficiency of PC-PU could be as high as 81.9%, indicating that the prepared PC-PU possessed both excellent mechanical properties and self-healing properties.