A normal temperature cured starch-based wood adhesive was prepared using dry method esterification and polyisocyanate prepolymer crosslinking. The effects of esterification and crosslinking on the properties of corn starch adhesive were investigated. The esterified starch and adhesive were characterized using Fourier transform infrared spectroscopy (FT-IR), X-ray diffraction (XRD), dielectric analysis (DEA), thermogravimetric analysis (TGA), and scanning electron microscopy (SEM). The results showed that maleic anhydride (MAH) esterified starch was obtained using dry method esterification. After esterification, the crystal type of starch did not change, but the crystallinity of starch decreased. The distribution of adhesive at the bonding interface was improved after esterification. The prepolymer improved the thermal stability of the adhesive, and the optimal addition of prepolymer was 10%.