Of the 257 patients who met the enrolment criteria, 95 patients were in the penile rehabilitation group (PR group) and 162 patients were in the nonpenile-rehabilitation group (non-PR group). Patients in the PR group were significantly younger and had a higher preoperative IIEF Q1 score, a higher preoperative IIEF EF-domain score, and a longer total surgical time than the non-PR group. After PSM, there were 156 effective analyses, of which 78 were in the PR group (mean age 64.9 ± 6.0 years) and 78 were in the non-PR group (mean age 64.6 ± 5.2 years). There was no significant difference in demographic factors between the two groups after PSM. In the IIEF Q1 and EF-domain scores, there were no significant differences between the two groups one month postoperatively, but there were significantly higher differences in the PR group 3–18 months and 3–24 months postoperatively as compared to the non-PR group (p < 0.001). The recovery rates for urinary incontinence (the pad free rate) after the RARP were 16.7%, 33.3%, 47.4%, 55.1%, 62.8%, 66.7%, and 72.4% in the non-PR group and 29.5%, 46.2%, 59.0%, 62.8%, 67.5%, 71.1%, and 71.1% in the PR group at 1, 3, 6, 9, 12, 18, and 24 months, respectively. There was no significant difference in the recovery rate of urinary incontinence between the two groups. In EPIC, the SFS score was significantly higher differences in the PR group 3–24 months as compared to the non-PR group (p < 0.001). The USS, UIR, UBS scores were significantly higher in the PR group 3-6 months postoperatively (p < 0.05), and the UBS scores were significantly higher in the PR group 9 months postoperatively (p < 0.05). In SF-8, the GH, VT, SF, RE, MH, and MCS scores were significantly higher in the PR group three months postoperatively (p < 0.05), and the SF, RE, MH, and MCS scores were significantly higher in the PR group six months postoperatively (p < 0.05).