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This paper studies the dynamic performance of subway transportation systems. A three-layer model, consisting of a rail layer, a train layer, and a passenger layer, is proposed to describe the structure and operation of a metro system. Two parameters, namely, time efficiency and maximum load ratio, are proposed to assess the transport efficiency and the train utilization rate, respectively. Case studies of the metro networks in Beijing, Tokyo, and Hong Kong show that the time efficiency decreases nonlinearly with the increase of vehicle resource and passenger demand, whereas maximum load ratio varies in an opposite manner. For the three metro networks under study, the Tokyo metro system has the highest time efficiency when passengers adopt a shortest-path (SP) routing strategy, while the Hong Kong system’s highest time efficiency exceeds the others’ when passengers adopt a minimum-transfer-path (MTP) strategy. In general, the maximum time efficiency is higher when passengers adopt SP routing rather than MTP routing. Moreover, the Beijing metro system has the highest maximum load ratio, regardless of the passengers’ routing behavior. This paper can be applied to a metro network to optimize the train departure interval under a certain passenger entrance rate, with the aim to maximize the time efficiency and maximum load ratio. Our model permits assessment of the operational effectiveness of metro systems, which helps the metro operators to improve the performance and reduce the cost. [ABSTRACT FROM AUTHOR]