Thermally reversible cross-linked polycaprolactone-urethane (PCL-U) was prepared in one-step procedure. The PCL-U networks were synthesized from a di-isocyanate (4,4-methylene bis(cyclohexylisocyanate) (HMDI) and hydroxyl bearing macromers and monomers: hydroxy-terminated PCL, glycerol and a di-alcohol Diels-Alder (DA) adduct. This adduct was used to introduce both diene and dienophile functions in the structure and also to protect the maleimide functions from polymerization. The thermoresponsive behavior of the material was characterized by commonly used methods such as solubility tests at different temperatures and differential scanning calorimetry analyses to highlight rDA reactions and also by rheological analysis. The effects of the cooling rate, the molar mass of polycaprolactone as well as the molar ratio [di-Isocyanate]/[PCL-diol] on the cross-linking/de-cross-linking temperatures were also analyzed. The reversible networks obtained have a self-healing behavior.