The interconnection between urbanization, the environment, and food security necessitates an exploration of their coupling coordination to advance the attainment of Sustainable Development Goals. However, limited research directly addresses the feasibility and strategies required to achieve such coordination. This study investigates the coupling coordination and spatial heterogeneity between urbanization, the environment, and food security in China from 2004 to 2020, employing the coupling coordination degree model, the spatial correlation model, the Dagum Gini coefficient, and the obstacle degree model. The results show that: (1) the level of coordinated development between urbanization, the environment, and food security in China has significantly increased, as evidenced by a remarkable rise in the coupling coordination degree; (2) a robust positive spatial correlation is observed in the coupling coordination degree, with “Low-Low” clusters predominantly concentrated in northwest China and “High-High” clusters primarily located in southeast China; (3) inter-regional differences are identified as the primary cause of this spatial heterogeneity; (4) food security has emerged as the foremost obstacle to coordinated development between urbanization, the environment, and food security in China. Optimizing the rational allocation of natural resources across different sectors, enhancing resource use efficiency, and strengthening environmental pollution control and management have been proven to be crucial measures and key strategies for promoting their coordinated development. This study provides a novel perspective on balancing the intricate relationship between urbanization, environmental protection, and food security, which is conducive to the achievement of Sustainable Development Goals in developing countries.