A series of newly ultraviolet curable waterborne polyurethane resins was successfully synthesized by incorporating the pentaerythritol triacrylate into its terminal chain. Then it was used as binder to prepare UV-curable waterborne gravure ink. The effects of different contents of DMPA on properties of emulsions and the printability of UV-curable waterborne gravure ink were investigated. The results suggested that with the increase in DMPA mass fraction, the color of the emulsion was gradually transformed from milky opaque to translucent with pan-blue light, and the storage stability of the emulsions was improved. In the meanwhile, the particle size became smaller and its solid content was higher. All these factors considered, the optimal mass fraction of DMPA was 6.25%. The prepared UV-curable waterborne gravure printing ink was in conformity with national standards and could basically meet the printing requirements in the actual use of the process.