Polylactic acid (PLA) is a semi-crystalline synthetic polyester that has been primarily studied for use in a variety of industries in many fields and it is one of the most widely used materials for 4D printing technology. However, there is still many issues not fully understood and very limited research being done regarding the properties of the PLA based shape memory polymer when blended with other polymer. This paper attempts to study the thermal properties of the PLA based shape memory polymer with addition of thermoplastic polyurethane (TPU) in five different blend ratio to be used for 4D printing technology. PLA/TPU blends of 90/10, 80/20, 70/30, 60/40 and 50/50 were prepared and mixed by using internal mixer. The ratio used is by weight, where for each composition, the total weight of the raw materials is 1 kg. Then, the blends were extruded into filaments by using single screw extruder. Next, differential scanning calorimetry (DSC) were done on the filaments to characterize their thermal properties. The finding shows that the incorporations of TPU helps in reducing the cold crystallization temperature, Tcc and melting temperature, Tm. The glass transition temperature, Tg obtained for all blends are in the ranges of 60–61 °C. All these properties are important parameters for the shape memory polymer as Tcc and Tm are used for the printing process while Tg is important for the shape recovering process.