Municipal solid waste is a chronic problem in many developing countries like Brazil. Addressing the challenges of waste management requires robust frameworks for assessing the policies’ impacts. In this context, sustainability indicators may help decision-makers in adopting more efficient waste policies. The main goal of this study is to propose a framework for identifying and classifying indicators related to waste management within Brazilian public policies. This evaluation was based on extensive legislative surveys aimed at identifying goals, targets, and obligations outlined in these policies. A comprehensive Driving Force–Pressure–State–Impact–Response (DPSIR) framework was employed to identify and classify the usefulness of these indicators in the context of waste management. A total of 151 indicators were identified, alongside 283 waste goals, targets, and obligations, which were primarily related to municipal waste and were mostly sourced from plans, laws, presidential decrees, and collegiate resolutions. Within the framework, 66 indicators, mostly related to waste collection and recycling, were deemed useful, comprising 34 classified as Responses, 14 as Pressures, six as Driving Forces, four as States, two as Impacts, and six as Pressure/Responses. The challenges associated with the DPSIR framework and strategies to enhance the efficiency of public waste policies in Brazil are also discussed.