The present invention relates to an aqueous dispersion based on polyurethane-urea, a composition comprising the same, and a use of the same in a coating agent, a sealant and an adhesive. The aqueous polyurethane-urea dispersion comprises a polyurethane-urea dispersed therein having sulfonate and/or carboxylate groups and lateral carboxyl groups, wherein the amount of said sulfonate and or carboxylate groups is 1.5 to 15 mmol/100 g; said lateral carboxyl is introduced by an aminocarboxylic acid having an amino functionality of greater than 1; the amount of said lateral carboxyl is 1.5 to 9.5 mmol/100 g, based on the polyurethane-urea solid components. Compared with the prior art, the composition of the polyurethane-urea based aqueous dispersion and a carboxyl reactive cross-linking agent provided by the present invention has a good cross-linking property and an excellent heat-resistance, which is not prone to come unglued when being exposed to heat.