The environmental crisis caused by rapid global urbanization has led to many public health problems, which has gradually become the new normal in the process of achieving sustainable urban development. This study aims to reveal the relationships between health, environment, and urban sustainability from a multidisciplinary perspective. Based on the existing research dimensions of urban sustainable development, the necessity, rationality, and feasibility of introducing the health dimension are proposed, and the research framework of health and urban sustainability is integrated and reconstructed. It is pointed out that scholars and policy makers should take the urban environment as the platform, take the duality of health and sustainability as the starting point, reconstruct the research framework of urban sustainability based on the health dimension, and provide a new theoretical perspective for the realization of urban sustainable development under the new normal.