A series of polyurethane (PU) emulsions modified with aminosilicone were synthesized, based on 2,4-toluene diisocyanate (TDI), poly(tetramethylene oxide) (PTMO), and dimethylolpropionic acid (DMPA) as a prepolymer which was chain-extended with aminoethylaminopropyl polydimethylsiloxane (AEAPS) in an aqueous emulsion. Their chemical compositions, structures, bulk and surface properties, and emulsion morphologies were investigated using Fourier transform infrared spectrum analysis (FTIR), tensile and surface contact angle measurements, electron spectroscopy for chemical analysis (ESCA), water swellablity, an emulsion stability test, and transmission electron microscopy (TEM). It was shown that the PU emulsions were stable and the siloxane chains were enriched on the PU surface. The water resistance of the PU film increased but the bulk tensile properties of the PU film were not changed significantly with a small amount siloxane modification up to 6 wt %.