Poly(ester urethane) (PU) with functional groups (amide, hydroxyl, carboxyl) on surfaces were prepared by grafting monomers such as acrylamide (AAm), hydroxyethyl acrylate (HEA), and methacrylic acid (MAA) onto the PU membranes. Grafting copolymerization was carried out by the combined use of photooxidization and UV irradiation grafting. The PU membrane was photooxidized in hydrogen peroxide solution under UV light to yield hydroperoxide groups on the surface and then irradiation grafting with monomer in water. The ATR-FTIR spectrum, X-ray photoelectron spectroscopy characterized the grafted copolymers and verified the occurrence of grafting copolymerization. The results showed that the content of hydroperoxide groups yielded was dependent on the photooxidization time and reached maximum at about 8 h. Grafting copolymerization was enhanced when irradiating by UV light. The degree of grafting was increased with the increase of content of hydroperoxide groups, irradiation time, and monomer concentration. The grafting copolymerization was enhanced when an appropriate amount of ferrous ions was added. After grafting, the wettability of PU and the water absorption percentage increased with the degree of grafting.