This paper proposes a structure for sustainable implementation of urban distribution centers (UDCs) in historical cities, considering the opinion of the main stakeholders involved in the urban distribution of goods and a set of additional criteria. Based on a survey that was conducted among carriers, traffic wardens, and retailers, a decision hierarchy structure, consisting of the relevant criteria evaluated by various statistical techniques, will be used for sustainable implementation of UDCs. The methodology uses a database collected in the historical center of Ouro Preto, a Brazilian city which contains common characteristics of other Latin American and some European cities that are included in the World Heritage List. This structure is unique, as it is based on a survey among the main stakeholders, and can be applied by logistics operators and local authorities for implementing UDCs to address urban distribution issues, especially in historical cities. However, without loss of generality, the proposed methodology can be adopted for different cities using the appropriate criteria according to the characteristics of the cities.