Urban logistics has emerged as a priority to improve goods distribution and mobility within urban centers worldwide. Brazil presents a unique set of challenges in this regard due to issues such as excessive reliance on road transportation, lack of regulations, inadequate infrastructure, cargo theft, and the intricate interplay of cargo transportation with urban traffic. These challenges collectively exert a substantial influence on the economic, urban, and environmental performance of cities. This article introduces a novel approach aimed at assessing and benchmarking urban logistics performance between Brazilian cities with potential applicability to other contexts. The methodology was based on data envelopment analysis to evaluate efficiency based on key indicators, including GDP Gross Domestic Product, population size, commercial establishments, urban area coverage, cargo fleet size, and travel time. By applying this methodology to 12 Brazilian cities, the study improves the understanding of their relative efficiency levels concerning urban logistics and provides key insights for policymaking. The results also show the relevance of the proposed methodology and contribute to provide a perspective of different administrative and logistical facets through the lens of macroeconomic indicators, contributing to a holistic understanding of urban logistics dynamics.