In this study, two agents (a foaming agent and a hardener) are mixed to form rigid polyurethane (PU) foams with various densities, which are separately poured into a mold with a three-dimensional (3D) fabric to form 3D fabric/foam composites. The mechanical property and sound absorbency of the composites are examined. The experiment results show that an increasing density of the two-agent mixture results in a more compact PU foam, a 31 % increase in bursting strength, and a greater resilience, but also a decrease in the sound absorbency coefficient. In sum, variations in the density of the mixture have an impact on the physical properties of the fabric/foam composites, the derived results of which can thus be further applied to product designs.