Biobased cationic waterborne polyurethanes (WPUs) were prepared using isophorone diisocyanate (IPDI), N-methyl diethanolamine (N-MDEA), polycaprolactone (PCL) diol, hydrochlotic acid (HCl), and 1,4-butanediol (BDO). To improve the mechanical performance and adhesive strength of the waterborne polyurethane films, different amounts of castor oil (CO) acting as a cross-linking agent were incorporated in the polyurethane structure. The structures of the waterborne polyurethanes were assessed by Fourier-transform infrared spectroscopy (FTIR). The combination of CO had a positive effect on the dispersion and stability properties of WPUs. WPUs containing higher content of CO demonstrated a remarkable enhancement in homogeneity among particles. The stable aqueous dispersion was obtained even when N-MDEA loading was as low as 3.2 wt%; a bonus of this low hydrophilic moiety was the excellent adhesive strength, whose T-peel strength could reach up to 36.8 N/25 mm, about 114% higher than that of WPU (17.2 N/25 mm) without any CO content. The elongation at break of CO_7.40%-WPU was 391%. In addition, the fracture mechanism of the waterborne polyurethane films transformed from the brittle failure to the ductile fracture. The experiment results showed the CO-modified WPUs displayed excellent film-forming property, flexibility, and adhesion, which can be employed for constructing the eco-friendly, biodegradable, cationic, waterborne polyurethanes.