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Abstract In recent years, urban energy efficiency has received much attention from researchers. However, ignorance of the competitive relationships among regions results in inaccurate energy efficiency. Game cross-efficiency data envelopment analysis (DEA), which can account for the competitive relationships, is a reliable method to measure energy efficiency. First, this paper applies game cross-efficiency DEA to analyze the urban total factor energy efficiency (UTFEE) of 26 Chinese prefectural-level cities from 2005 to 2015 under environmental constraints. Then, a comparative analysis and a concrete analysis are conducted based on the urban energy efficiency. Finally, a Tobit model is used to examine the effects of 10 potential influence factors. The measurement results show that the urban energy efficiency considering the competitive relationship is lower than the traditionally calculated efficiency. Additionally, the urban energy efficiency did not improve during the research period. Furthermore, regression analysis suggests that economic development and city scale can promote urban energy efficiency, while government expenditure, industrial structures, energy prices, foreign investments, research investments and production endowment have negative impacts on urban energy efficiency. According to our results, some implications of theory and practice are discussed for researchers and policy makers. [ABSTRACT FROM AUTHOR]