In a process for the production of pore-free polyurethane elastomer moldings with Shore D hardness of at least 60 in accordance with DIN 53505, (a) polyesterdiol with OH number from 20 to 100 mg KOH/g and (b) a chain extender composed of diol with molar mass below 300 g/mol, is mixed with (c) isocyanate prepolymers obtainable via reaction of diisocyanate with polyesterols with functionality from 1.95 to 2.2 and with OH number from 20 to 200 mg KOH/g to form a reaction mixture. The reaction mixture is charged to a mold and hardened to form the polyurethane elastomer. Polyurethane elastomer moldings are thus obtainable by this process, and these polyurethane moldings may be used as cladding component for commercial vehicles, bodywork component in vehicle construction, or a cladding component of a machine installation.