To reduce carbon dioxide emission of materials, two eco-friendly diols, poly(lactide) (PLA) diol and poly(ethylene glycol) (PEG) were applied for the synthesis of polyurethane acrylates (PUAs). PUAs with acrylate-ended groups were synthesized and then their mixtures were copolymerized by UV. The cured PUAs were characterized by fourier transform infrared spectroscopy, differential scanning calorimetry, drop shape analysis, universal testing machine, and dynamic mechanical analyzer. The cured PUAs showed single Tg due to well distribution of diols. Tensile strength and Tg of the cured PUAs increased with the content of PLA diol. As the content of PEG in the PUAs increases, thermal stability and hydrophilicity were improved. The results showed that the mechanical and thermal properties of synthesized PUAs could be controlled by diol ratio.