The invention relates to the technical field of foamed polyurethane and in particular relates to a continuous extruded type TPU (Thermoplastic Polyurethane) foamed material and a preparation method thereof. The TPU foamed material comprises the following raw materials in parts by weight: 65-85 parts of TPU, 1-5 parts of inorganic packing, 1-5 parts of a foaming agent, 0.5-5 parts of a compatilizer, 0.02-0.1 part of an antioxidant, 0.02-0.1 part of an anti-hydrolysis agent and 0.5-1.5 parts of a lubricant. By adopting the TPU foamed material provided by the invention, continuous extrusion formation molding can be achieved by using an extruder, the material is high in production efficiency and free of pollution, and a foamed product made of the TPU foamed material provided by the invention is light in weight, soft, environmentally friendly and nontoxic, excellent in wearing resistance and rebound resilience, excellent in comprehensive property, and widely applicable to the fields such asfloating cables and artificial leather.