The surging demand for logistics systems brought about by the vigorous development of e-commerce makes urban traffic more and more congested. The need for a sustainable transition in terms of urban transportation infrastructure also encourages the further innovation of logistics systems. The urban underground logistics system (ULS) emerges as a promising alternative for realizing efficient large-scale freight distribution in megacities. However, there are relatively few studies that have explored the factors that determine the uptake of ULSs in practice. This paper thus aims to identify the critical success factors of ULSs throughout project life cycle stages. Firstly, a desktop study and a study using the Delphi method were conducted to extract the critical success factors (CSFs) of ULS projects. Secondly, a questionnaire survey was conducted to collect data on the perceived significance of the selected success factors from ULS professionals. Thirdly, the intergroup comparison of the significance of CSFs and exploratory factory analysis were used to ascertain the critical factors and latent determinants influencing the development of ULS projects. In total, 36 CSFs in the four life cycle stages of ULS projects were finalized. The identified factors represent the seven latent determinants in developing a ULS project, namely, overall feasibility and acceptance of the ULS, prototype system, and business model, competence and resources for ULS construction and operation, station layout and intermodal transportation, government policies and incentives, long-term planning of the underground space and logistics network, and market investigation and forecasting. The research findings of the paper help guide practitioners and policy makers on decisions made during ULS planning and construction and provide a reference performance evaluation framework for ULS projects.