Three series of novel poly(amide-ester) (PAE) elastomers were prepared by direct polycondensation from terephthalic acid (TPA), polyols (M(n) = 1000 or 2000), and various diamines. The structures and thermal properties of the synthesized PAEs were examined by FTIR spectroscopy, wide angle X-ray diffraction (WAXD), differential scanning calorimetry (DSC), thermal optical polarized microscopy, thermogravimetric analysis (TGA), and dynamic mechanical analysis (DMA). The effects of kinds and amount of diamines and the molecular weight of polyols on the thermal properties of PAEs were studied. By introducing long flexible spacers (PE-1000 or PE-2000) into the polymer main chain, all polymers showed two-phase morphology under the thermal optical microscopic observation. It was interesting that most of the synthesized polymers exhibited only one melting transition corresponding to the soft segments. The melting transition of hard segments could not be detected due to decomposition of the soft segments. However, a thermotropic liquid crystalline PAE (TLCPAE) prepared from methylhydroquinone and 2-chloro-5-methylphenylenediamine with PE-1000 could be obtained by lowering the melting transition temperature of the hard segment.