Effect of glucose cross-linking on the shape memory and mechanical properties of polyurethane (PU) block copolymer was investigated. Glucose was selected due to its large number of free hydroxyl groups, easy availability, miscibility with other reactants, and cyclic structure. The glycerol cross-linking did not affect the molecular interaction and phase separation of hard and soft segments in polyurethane structure as judged from IR and DSC analysis. Viscosity of glucose cross-linked PU increased after cross-linking due to the cross-linked structure. Maximum stress drastically improved with the adoption of glucose as a cross-linker together with a slight increase in strain at break. Shape recovery also increased with the adoption of glucose as a cross-linker, and shape recovery was not diminished after four cyclic shape recovery tests. In contrast, shape retention significantly decreased if glucose was included for two different hard segment contents. Finally, glucose cross-linking was compared with other cross-linkers used in shape memory polymer and the advantage of glucose cross-linking was discussed.