In this study, thermally reduced graphene oxide (TRG)-containing polyurethane nanocomposites were obtained by the extrusion method. The content of TRG incorporated into polyurethane elastomer systems equaled 0.5, 1.0, 2.0 and 3.0 wt%. The morphology, static and dynamic mechanical properties, and thermal stability of the modified materials were investigated. The application of TRG resulted in a visible increase in material stiffness as confirmed by the measurements of complex compression modulus (E′) and glass transition temperature (Tg). The Tg increased with increasing content of nanofiller in the thermoplastic system. The addition of thermally reduced graphene oxide had a slight effect on thermal stability of the obtained materials. The incorporation of 0.5, 1.0, 2.0 and 3.0 wt% of TRG into a system resulted in increased char residues compared to unmodified PU elastomer. Also, this study demonstrated that after exceeding a specific amount of TRG, the physicomechanical properties of modified materials start to deteriorate.