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Green development is a significant concept that cannot be ignored in contemporary society. However, in the context of China's transition from high-speed growth to high-quality development, the complex impact of urban development has brought great challenges to the urban green environment. In this paper, the impact of urban development on green development efficiency (GDE) was studied. First and foremost, a Super-SBM model was introduced to measure the GDE of 41 cities in the Yangtze River Delta during 2009–2018. Moreover, a Tobit model was used to analyze the correlation between four urban development factors, including economic development and GDE. According to the results, the mean GDE of the Yangtze River Delta is 0.824, and the GDE in most cities there has shown a fluctuating growth trend in this decade. By comparison, the GDEs of coastal cities and cities in the southeast of the Yangtze River Delta were generally higher than those of cities in the north, indicating that the green development is geographically unbalanced, and there is spatial heterogeneity in the area studied. The study's results also suggest that the urban economic development, innovation level, and government planning play a significant role in stimulating urban green development, and that the expansion of urban construction area hinders the improvement of GDE. [ABSTRACT FROM AUTHOR]