Biomass bifunctional polyamide elastomers (BbPEs) were successfully prepared from dimer acid (DA), trimer acid (TA), and triethylenetetramine with shape memory and self-healing abilities. In the composition structure of BbPEs, vast hydrogen bonds formed among the amide bonds of different segments endowed the BbPEs with self-healing ability. At room temperature, the mechanical properties of BbPEs can be restored to 49% of the original condition after healing for 2 h. In addition, the physical and chemical cross-linking endowed the BbPE with preferable mechanical and shape memory properties. The tensile strength of the material is 4.4 ± 0.1 MPa, and the elongation at break reaches 1500 ± 2%. Under the recovery temperature of 60 °C, the shape memory recovery rate of 5 min can reach 95%. The recovery efficiency is 88.9%. This material can be utilized for many practical applications, such as intelligent electronic devices, bionic materials, and so on.