The evolution of responsive polymers has amplified expressively in consequence of the growth of precise polymer architecture with predetermined structure-to-property behavior. In this study, new thermal responsive self-healing polycaprolactone urethane coatings were prepared from waste palm cooking oil. Nine different formulations of coatings with various percentages of ε-caprolactone (ε-CL) were successfully developed and the effect of polycaprolactone network in the polyurethane coating on the self-healing behavior. The remendability of the coatings was studied by using thermal analysis and dynamic mechanical analysis. The PCLU coating with the highest content of PCL network was nearly completely healed after 2 hours at 90ºC. The results were confirmed by scanning electron microscopy before and after healing. The mechanism of scratch closure by thermal stimuli-responsive self-healing was also discussed.