To find a more effective method for the assessment of sustainable urban transport development, the comprehensive assessment model of sustainable urban transport development was established based on the unascertained measure. On the basis of considering the factors influencing urban transport development, the comprehensive assessment indexes were selected, including urban economical development, transport demand, environment quality and energy consumption, and the assessment system of sustainable urban transport development was proposed. In view of different influencing factors of urban transport development, the index weight was calculated through the entropy weight coefficient method. Qualitative and quantitative analyses were conducted according to the actual condition. Then, the grade was obtained by using the credible degree recognition criterion from which the urban transport development level can be determined. Finally, a comprehensive assessment method for urban transport development was introduced. The application practice showed that the method can be used reasonably and effectively for the comprehensive assessment of urban transport development.