Shape-memory polyurethanes (SMPUs) represent a highly interesting class of materials due to their applications in different sectors such as biomedical, textile, and aerospace. Moreover, it is possible to synthesize a variety of polyurethanes with different molecular architectures just choosing properly the chemical structure of their components. In this work, it is described the influence of the soft segment on the thermomechanical properties and shape memory behavior of shape memory polyurethanes. The synthesis, based on two-step polymerization, was prepared by two different soft segments: poly(oxytetramethylene) glycol (PTMG) or poly(ethylene glycol) (PEG). Depending on the molecular architecture achieved, the materials present different properties that were studied by thermogravimetric analysis (TGA), differential scanning calorimetry (DSC) and dynamic mechanical analysis (DMA). Furthermore, the shape memory response of thermally activated SMPUs is determined qualitative and quantitatively by visually monitoring the shape recovery process and by thermomechanical analysis (TMA), respectively. All developed compositions have shown good shape memory behavior, with recovery ratios higher than 99.8%. POLYM. ENG. SCI., 58:238-244, 2018. (c) 2017 Society of Plastics Engineers