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Abstract Assessing street walkability is a critical agenda in urban planning and multidisciplinary research, as it facilitates public health, community cohesion, and urban sustainability. Existing evaluation systems primarily focus on objective measurements, often neglecting subjective assessments and the diverse walking needs influenced by different urban spatial elements. This study addresses these gaps by constructing a comprehensive evaluation framework that integrates both subjective and objective dimensions, combining three neighbourhood indicators: Macro-Scale Index, Micro-Scale Index, and Street Walking Preferences Index. A normalization weighting method synthesizes these indicators into a comprehensive index. We applied this framework to assess the street environment within Beijing’s Fifth Ring Road. The empirical results demonstrate that: (1) The framework reliably reflects the distribution of walkability. (2) The three indicators show both similarities and differences, underscoring the need to consider the distinct roles of community and street-level elements and the interaction between subjective and objective dimensions. (3) In high-density cities with ring-road development patterns, the Macro-Scale Index closely aligns with the Comprehensive Index, demonstrating its accuracy in reflecting walkability. The proposed framework and findings offer new insights for street walkability research and theoretical support for developing more inclusive, sustainable and walkable cities.