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To better eliminate the impact of radioactive elements on the environment, we synthesized a ter-polymer of acrylonitrile, acrylic acid, and hydroxyapatite (AN/AA-co-HAP) as an adsorption material for separating uranyl ions in aqueous solution, which was based on our previous work. We used Fourier-transform infrared spectroscopy, scanning electron microscopy, elemental analysis, N2sorption/desorption isotherm, thermogravimetric analysis and X-ray diffraction methods to characterize the material’s structure, and studied the effect of equilibrium time, pH, ionic strength, solid–liquid ratio, initial concentration, and temperature on the adsorption process. Finally, it is concluded that adsorption equilibrium can be reached within 60 min at room temperature, and the maximum adsorption capacity is 343.3 mg/g. Thermodynamic analysis indicates that the adsorption process is a spontaneous endothermic process. In the system with a nitric acid concentration of 0.05 mol/L (pH value: 1.3), the desorption rate of U(VI) can reach 91%, while the adsorption rate of U(VI) in aqueous solution onto AN/AA-co-HAP is still remains >60% even after the material is has been reused 6 times. These results suggest that AN/AA-co-HAP is highly valuable for treating U(VI) ions in aqueous solution.