A series of long-chain branched poly(L-lactide)s (LCB-PLAs) with controlled branch length were prepared by a simple and efficient method through a combination of ring-opening polymerization (ROP) of L-lactide and a coupling reaction between the terminal OH groups of the PLA prepolymers and the NCO groups of HDI. The influences of reaction conditions on the synthesis of the LCB-PLAs were investigated, and the structures of the resultant LCB-PLAs were characterized by H-1 NMR spectroscopy and SEC-MALLS. By adjusting the degree of polymerization and the composition of the prepolymers, LCB-PLAs with different branch densities and molecular weights between branch points were obtained. The effect of macromolecular chain branching on the rheology and crystallization of PLA was also investigated. The LCB structure contributed to the enhancement of the zero-shear viscosity, complex viscosity, storage modulus, melt strength, and strain hardening under elongational flow. Thermal behavior indicated that the branch structure resulted in a short nucleation induction period and more rapid crystallization, which can be a guarantee of high-strength foams.