Rapid urban development in Southeast Asia is often the main cause of urban kampung formation, a cluster of sporadic and informal settlements. Kampungs possess the capacity to serve to build the local economy and provide culture conservation through heritage tourism. To promote sustainable development in heritage kampung tourism, it is imperative to propose directives that optimize its heritage qualities without compromising both the economic and environmental aspects of sustainability. This study aims to develop a comprehensive sustainable development framework on a local scale by implementing a novel prioritization approach. Descriptive statistical analysis, Analytical Hierarchy Process (AHP), and Fuzzy AHP (FAHP) provide the researchers with a holistic understanding regarding heritage tourism sustainability by considering various stakeholders’ perspectives. Novel prioritization is presented using radar diagrams to understand how each variable, representing environmental, social, and economic criteria, has perceived importance according to experts and tourists. The analysis highlights the kampung Kayutangan’s sustainability while acknowledging variations in element importance, necessitating the alignment of development directives.