In this research, the assessment technique to evaluate the degree of vulnerability to a flood disaster, which reflects the environmental and social characteristics in the light of the urban environment, was addressed. In particular, the road transportation problems, which are affected by inland inundation in urban areas and by the vulnerable groups, such as inhabitants' age and disability, are considered in the evaluation. Consequently, the assessment technique is more focused on the life and management of urban functions than the amount of damage. Vulnerability assessment procedures comprise three stages, i.e., composing the assessment index to reflect the characteristics of the cities and inhabitants, calculating the weight, and evaluating the vulnerability using the TOPSIS technique. The weights were determined using the Delphi method and Entropy analysis, which employed the typical subjective weight assessment technique and objective weight assessment technique, respectively. The target area for the evaluation was the Dorimcheon basin in which a flood had occurred because of the influence of backwater from the nearby streams and the poor rainfall drainage system. The established approach, employed as an urban flood vulnerability assessment technique that is able to consider the characteristics of each region, makes it possible to predict the inherent vulnerable factors in urban regions and to propose the area of priority control when urban floods occur.