An efficient urban freight transport (UFT) system is crucial for sustainable city development. However, implementing city logistics measures still seems challenging for municipalities and decision-makers. Moreover, city authorities’ decisions depend on politics and social issues, and the city residents’ opinions seem to be very important in this context. Therefore, the primary objective of this paper was to assess the perception of urban mobility problems and freight solutions from the perspective of city users, considering the point of view of Brazilian and Polish city dwellers. The work was based on a survey realised in Belo Horizonte (Brazil) and Szczecin (Poland). The analysis identified the similarities and differences between the perceptions of different resident groups in both cities. The practical advantage of this research is the establishment of a set of recommendations for city decision-makers in the context of residents’ perceptions and their expectations regarding the implementation of urban freight measures.