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Urban flood vulnerability monitoring requires a large amount of socioeconomic and environmental data collected at regular time intervals. However, collecting such a large volume of data poses a significant constraint in assessing changes in flood vulnerability. This study proposed a novel method to monitor spatiotemporal changes in urban flood vulnerability from satellite nighttime light (NTL) data. Peninsular Malaysia was chosen as the research region as floods are the most devastating and recurrent phenomena in the region. The study developed a flood vulnerability index (FVI) based on socioeconomic and environmental data from a single year. This FVI was then linked to NTL data using an Adaptive neuro-fuzzy inference system (ANFIS) machine learning algorithm. The model was calibrated and validated with administrative unit scale data and subsequently used to predict FVI at a spatial resolution of 10 km for 2000–2018 using NTL data. Finally, changes in estimated FVI at different grid points were evaluated using the Mann-Kendall trend method to determine changes in flood vulnerability over time and space. Results showed a nonlinear relationship between NTL and flood vulnerability factors such as population density, Gini coefficient, and percentage of foreign nationals. The ANFIS technique performed well in estimating FVI from NTL data with a normalized root-mean-square error of 0.68 and Kling-Gupta Efficiency of 0.73. The FVI revealed a high vulnerability in the urbanized western coastal region (FVI ∼ 0.5 to 0.54), which matches well with major contributing regions to flood losses in Peninsular Malaysia. Trend assessment showed a significant increase in flood vulnerability in the study area from 2000 to 2018. The spatial distribution of the trend indicated an increase in FVI in the urbanized coastal plains, particularly in rapidly developing western and southern urban regions. The results indicate the potential of the technique in urban flood vulnerability assessment using freely available satellite NTL data. [ABSTRACT FROM AUTHOR]