The present invention relates to a polyurethane composite material, comprising a polyurethane resin matrix prepared from a polyurethane composition, and a reinforcement material, wherein the polyurethane composition comprises: A) an isocyanate component comprising one or more organic polyisocyanates; B) an isocyanate-reactive component comprising: b1) one or more organic polyols having an amount of 21-60 wt. % based on 100% by weight of the polyurethane composition; b2) one or more (meth)acrylates comprising hydroxyl groups; and C) a radical reaction initiator; wherein the polyurethane resin matrix is prepared under such reaction conditions that the polyurethane composition undergoes addition polymerization reaction of isocyanate groups and hydroxyl groups and radical polymerization reaction simultaneously. The present invention further relates to the preparation process of the polyurethane composite material.