To solve the issue of the poor temperature stability of conventional modified asphalt, polyurethane (PU) was used as a modifier with its corresponding curing agent (CA) to prepare thermosetting PU asphalt. First, the modifying effects of the different types of PU modifiers were evaluated, and the optimal PU modifier was then selected. Second, a three-factor and three-level L9 (33) orthogonal experiment table was designed based on the preparation technology, PU dosage, and CA dosage to prepare the thermosetting PU asphalt and asphalt mixture. Further, the effect of PU dosage, CA dosage, and preparation technology on the 3d, 5d, and 7d splitting tensile strength, freeze-thaw splitting strength, and tensile strength ratio (TSR) of the PU asphalt mixture was analyzed, and a PU-modified asphalt preparation plan was recommended. Finally, a tension test was conducted on the PU-modified asphalt and a split tensile test was performed on the PU asphalt mixture to analyze their mechanical properties. The results show that the content of PU has a significant effect on the splitting tensile strength of PU asphalt mixtures. When the content of the PU modifier is 56.64% and the content of CA is 3.58%, the performance of the PU-modified asphalt and mixture is better when prepared by the prefabricated method. The PU-modified asphalt and mixture have high strength and plastic deformation ability. The modified asphalt mixture has excellent tensile performance, low-temperature performance, and water stability, which meets the requirements of epoxy asphalt and the mixture standards.