This study investigated the extent of urban prosperity (Infrastructural Development) using residents' perceptions in selected settlements (Ota and Agbado) of Ogun State, Nigeria. The study adopted the survey research design (majorly questionnaire). The sample frame consisted of 4,375 households in Ota (Otun) and 3,312 households in Oke-Aro (Agbado Core) which translates to 7,687 households. The sample size was 722 households' heads. The method of data analysis included frequency tables and likert scale outputs through Statistical Package for Social Science (SPSS). Based on the findings, core residential area has majority (73%) of dwellers as indigenes while 54% were holders of secondary certificates. The study found that 49.3% were self-employed as the major (56%) housing type design was bungalow. From the Likert scale outputs, the study revealed that the extent of urban prosperity in terms of infrastructure (public Service) were health infrastructure with 3.36 Residents' Perception Index (RPI), public school standard with 3.25 RPI and road transport with 3.06 RPI, Also, the extent of urban prosperity in terms of infrastructures (Housing) with built as planned has 3.95 RPI and housing affordability with 3.62 RPI respectively. It was concluded that, urban settlements (Otun in Ota and Oke-Aro in Agbado) have tendency of being urban prosperous centers considering the RPI for policy formulation.