Duality properties of the $SU(2)$ Principal Chiral Model are investigated starting from a one- parameter family of its equivalent Hamiltonian descriptions generated by a non-Abelian deformation of the cotangent space $T^*SU(2) \simeq SU(2) \ltimes \mathbb{R}^3$. The corresponding dual models are obtained through $O(3,3)$ duality transformations and result to be defined on the group $SB(2,\mathbb{C})$, which is the Poisson-Lie dual of $SU(2)$ in the Iwasawa decomposition of the Drinfel'd double $SL(2,\mathbb{C})=SU(2) \bowtie SB(2,\mathbb{C})$. These dual models provide an explicit realization of Poisson-Lie T-duality. A doubled generalized parent action is then built on the tangent space $TSL(2,\mathbb{C})$. Furthermore, a generalization of the $SU(2)$ PCM with a WZ term is shortly discussed.