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The urban road network system is the main carrier of urban traffic. The constraint factor that urban road network has on traffic leads to major urban traffic problems. In this paper, a questionnaire survey and the Delphi method are determined to determine the case cities with a population of 1-2 million at home and abroad. Literature research and comparative, analytical, and inductive research methods are used to compare, analyse, and evaluate the advantages and disadvantages of the road network structure of the case cities, to summarize the development law of the urban road network, and to propose a sustainable development structure model for each development stage of urban road network: the mode made of ring freeway + trunk street (the embryonic stage), the mode made of ring freeway + expressway + trunk street (the incubation stage), the mode made of outer ring freeway + outer ring expressway and radial expressway + trunk street (the mature stage). The innovative point of this paper is to put forward a sustainable development pattern for the road network structure of cities with a population of 1-2 million in China.