The present invention provides a method for producing a polyurethane foam molded article from a polyisocyanate compound, a polyol mixture containing polyol, a catalyst and a crosslinking agent, and a blowing agent, said method comprising continuously injecting the polyisocyanate compound, the polyol mixture and the blowing agent into a mold, using a molding machine capable of separately supplying the polyisocyanate compound, the polyol mixture and the blowing agent, while the timing of starting to inject the blowing agent is delayed after the start of injecting the polyisocyanate compound and the polyol mixture. The inventive method produces, in a single stage, a polyurethane foam molded article having the skin or high density portion selectively formed on portions of the molded article actually requiring them, where the proportions of the skin and the high density portion and the foamed core can be varied freely.