Nano-Fe3O4-synthetic talc gel was used as filler in the synthesis of waterborne polyurethane/Fe3O4-synthetic talc nanocomposites. This filler presents numerous edges (Si-O and Mg-O) and OH groups easily forming hydrogen bonds and polar interaction with water conferring hydrophilic character, consequently improving filler dispersion within a water-based matrix. Yet, the use of waterborne polyurethane (WPU) as matrix must be highlighted due to its environmentally friendly characteristics and low toxicity compared to solvent-based product. Fe3O4-synthetic talc-nanofillers were well dispersed into the polyurethane matrix even at high filler content as supported by XRD and TEM analyses. NMR indicates the interaction of filler OH groups with the matrix. For all nanocomposites, one can see a typical ferromagnetic behavior below Curie temperature (about 120 K) and a superparamagnetic behavior above this temperature. The use of Fe3O4-synthetic talc for obtaining magnetic nanocomposites resulted in improved materials with superior mechanical properties compared to solvent-based nanocomposites.