Gly-Arg-Gly-Asp-Ser-Pro (GRGDSP) peptide has frequently been used in the biomedical materials to enhance adhesion and proliferation of cells. In this work, we modified the nontoxic biodegradable waterborne polyurethanes (WBPU) with GRGDSP peptide and fabricated 3-D porous scaffold with the modified WBPU to investigate the effect of the immobilized GRGDSP peptide on human umbilical vein endothelial cells (HUVECs) adhesion and proliferation. A facile and reliable approach was first developed to quantitative grafting of GRGDSP onto the WBPU molecular backbone using ethylene glycol diglycidyl ether (EX810) as a connector. Then 3-D porous WBPU scaffolds with various GRGDSP content were fabricated by freeze-drying the emulsion. In both of the HUVECs adhesion and proliferation tests, enhanced cell performance was observed on the GRGDSP grafted scaffolds compared with the unmodified scaffolds and the tissue culture plate (TCP). The adhesion rate and proliferation rate increased with the increase of GRGDSP content in the scaffold and reached a maximum with peptide concentration of 0.85 μmol/g based on the weight of the polyurethanes. These results illustrate the necessity of the effective control of the GRGDSP content in the modified WBPU and support the potential utility of these 3-D porous modified WBPU scaffolds in the soft tissue engineering to guide cell adhesion, proliferation and tissue regeneration.