This study aims to optimize the evaluation system of inclusive design in urban parks, emphasizing the systemic nature of sensory, cognitive, and motor capacity support and exploring its role in park design practice. Based on the capability demand model, this study constructed indicators through literature collation and focus group discussion and assigned weights through hierarchical analysis to finally construct the Park Inclusive Design Index (PIDI). Then, the PIDI was utilized to assess the inclusive design performance of 48 urban parks in Hangzhou, China. The results of this study show that the overall inclusive design level of parks is relatively low (the average PIDI < 70), especially in the provision of cognitive support (cognitive-related indicator < 4). Meanwhile, comprehensive and specialized parks performed better in inclusive design compared to community parks and leisure parks. The level of inclusive design is moderatory correlated with the park renovation time and the park area, and strongly correlated with geographic location (scenic spot parks perform better; the parks in the old city perform worse). Ten indicators in the assessment scored below 2, which reveals the current status, shortcomings, and general problems with inclusive facilities in Hangzhou’s urban parks. This study integrated the needs and ability differences of people into the indicators, providing an assessment framework with broad applicability. Inclusive performance is a long-term process, and the implementation of the evaluation framework will provide a reference guide for the design, construction, operation, and maintenance of urban parks across China and even around the world.