Polyurethane (PU) grafted with several well-known pH indicators (alizarin yellow, bromocresol green, bromocresol purple, or thymol blue) via spacer is characterized for thermal, spectroscopic, mechanical, and shape memory properties, as well as for PU color change to aqueous solution with various pH values. The PU polymer frame is composed of 4,4'-methylenebis(phenylisocyanate) (MDI), which acts as a hard segment, poly(tetramethyleneglycol) (PTMG) as a soft segment, and a covalently linked pH indicator. The four different PU series studied in this work display characteristic color dependent upon the grafted indicator type. The PU series also exhibit a small degree of cross-linking due to the grafting agent used to covalently link the indicator to the PU frame. The tensile mechanical strength and the shape recovery of the indicator-grafted PU remain high after repeated tests compared to that of the plain linear PU. Regarding the tensile mechanical properties, the maximum stress and the strain increase to 424 and 1,880 %, respectively, for indicator-grafted PU compared to the linear PU. Furthermore, the shape recovery is observed to reach 98 % and improves after each test cycle. A reversible color change is observed after repeated exposure to aqueous solutions with varying pH values and is confirmed with UV-VIS spectra results.