The invention provides a method for filling a polyurethane sole with waste rubber. The method comprises the following steps that A components, B components and rubber particles are mixed to be poured into a sole mold to be in reaction forming, demolding is carried out, and curing is maintained in a 60-70 DEG C drying oven for 22-24 hours to obtain the polyurethane sole filled with the waste rubber particles; the A components comprise, by weight, 100 parts of low polymer polyhydric alcohols, 1.2-2.0 parts of catalytic agents, 0.3-0.6 part of foaming agents, 0.5-1.2 parts of foam stabilizer silicone oil, and 7.0-15.0 parts of chain extender; and the B components comprise, by weight, 30-90 parts of the low polymer polyhydric alcohols, and 100 parts of diisocyanate. According to the method, the obtained polyurethane sole is uniform in foam holes, smooth in surface, and higher than a common polyurethane sole in tensile strength, abrasion resistance and tearing strength, the problem of reuse of rubber waste is resolved, and the technological process is simple and efficient.