Crosslinked waterborne polyurethane (TPWPU) fabric coating agents were prepared from polyadipic acid-1,4-butanediol diol (PBA), isophorone diisocyanate (IPDI), dihydroxymethylpropionic acid (DMPA) and polyethylene glycol tartrate (TPEG), which was synthesized by direct reaction of tartaric acid with polyethylene glycol (PEG). The structure of the synthesized TPEG was characterized by 1H-NMR and FT-IR. The properties of TPWPU emulsions and films were analyzed through particle size, water absorption, water contact angle and tensile tests. The waterproof and moisture permeability of coated fabrics were explored through hydrostatic pressure resistance and moisture permeability tests. The results show that when w(TPEG) = 1.8%, the average particle size of the emulsion is 78 nm, the water absorption rate of TPWPU film is 14.1%, the water contact angle is 85.2°, the tensile strength is 9.7 MPa, the elongation at break is 845%, and the overall performance is the best. At this time, the hydrostatic pressure resistance value of TPWPU coated fabric is 8.0 kPa, and the moisture permeability is 3.2 kg/(m2·24 h).