Shape memory polyurethanes (SMPU) have been of great interest in biomedical applications because of their unique ability to recover a primary shape by external actuation. This advantage can allow for easy suture and minimum tissue damage caused by surgery. Since SMPU suffer from low stiffness and low strength, carbon fibres have been widely used to reinforce SMPU, and their shape memory properties have been investigated using thermomechanical tensile tests. In reality, however, bending situations are more common than tensile situations, such as human skulls. In this study, carbon fibre reinforced SMPU (CF/SMPU) composites were studied as promising cranial implants that can offer shape memory properties, shape flexibility and high strength. First, the basic properties of pristine SMPU and CF/SMPU composites were characterised, including glass transition temperature (T), the viscosity of SMPU, the morphology of CF/SMPU, and their tensile and flexural mechanical properties. Then, a new method using rheometer was developed to study the shape memory behaviours of SMPU and CF/SMPU with three-point bending under relatively small deformations (≤1%), including flexural stress during programming and cooling, and bending recovery force during shape recovery. Finally, due to the invisibility of recovery process that was conducted in an enclosed temperature-controlling chamber of rheometer, the finite element method (FEM) was used to simulate the bending recovery test. The results showed carbon fibres significantly enhanced the mechanical properties (Young's modulus and flexural modulus) of SMPU. In terms of bending shape recovery, compared to pristine SMPU, CF/SMPU composites obtained substantially higher flexural stress during programming and cooling processes, and larger, more stable recovery force during recovery. The FEM results consolidated the peak recovery force of SMPU and the continuously growing recovery force of CF/SMPU as the temperature increased. Our findings on the improved mechanical and shape memory properties can provide a solid foundation for the potential applications of CF/SMPU composites as cranial implants.