Public transport contributes significantly to the development of socioeconomic activities and the long-term sustainability of all communities worldwide. Undoubtedly, it is a catalyst for maximizing quality urban living, social service accessibility, and environmental balance. Despite its considerable importance and benefits, public transport in Nigeria is still poorly practiced, and plagued by complex operational challenges. Based on this context, we assessed the public transport systems in Ikeja-Lagos, Abeokuta, and Ibadan cities to understand the struggle for sustainability in Nigeria. This study examined the socioeconomic and travel characteristics of passengers, the availability and condition of public transport infrastructural facilities, peculiar public transport challenges, and the best possible strategies to sustain public transport systems in Nigeria. The study employed a cross-sectional survey research design, while a multistage sampling technique was utilized to administer a well-validated questionnaire on the passengers at central transport nodes within the selected cities using both descriptive and inferential analysis. The results show that most of the respondents are men and spend more than 10% of their monthly income on public transport usage. Findings show that conventional public transport has been proven unpopular in Ibadan and Abeokuta cities compared to a chaotic and inadequate bus rapid system in Ikeja-Lagos. Findings also revealed traffic signal and control devices, and terminal facilities as top-two rated public transport facilities in good condition. The study revealed that public transport modes across the selected cities are operationally cracked as they are characterized by unprecedented challenges. The results of the Analysis of Variance established a statistical significant variation among the challenges mitigating sustainable public transport in the selected Nigerian cities. The study concludes and recommends, among other measures, full-adoption of appropriate mass transit options, particularly intra-city rail and the development of multimodal transport system.