Mattresses have the ability to deliver different degrees of thermal comfort to users. However, there is no current standardized test method for assessing the thermal comfort of mattresses. In efforts to create such a test method, the following research utilized an inverted thermal hotplate heated to 35 °C that was placed on three different mattresses at three testing temperatures. The three types of mattresses tested were innerspring, foam, and foam with phase change materials (PCMs). By analyzing surface temperature, heat flux generated, thermal resistance, and the time required to reach steady state thermal resistance, differences in the thermal properties of the mattresses were found in the short term (initial 30 min) and in the long term. The data showed very good repeatability and significant differences between the very different mattresses. The inverted hot plate served as a reliable tool to assess thermal differences between mattresses in the dry state.