Increased pedestrian–vehicle interactions, especially at signalized intersection crosswalks, have resulted in more pedestrian fatalities, and this situation worsens under heterogeneous traffic conditions. Therefore, evaluating pedestrian road-crossing safety is crucial, especially at signalized intersection crosswalks. This article aims to study pedestrian crossing safety at signalized intersection crosswalks based on the safety margin. Video graphic data were collected from eight signalized intersections. Data were extracted, and significant variables influencing the pedestrian safety margin (PSM) were identified. A random-intercept multiple linear regression model for predicting the PSM was estimated. Data included site, demographic, behavioral, exposure, the state of the crossing (distraction), glance, and traffic characteristics as variables. The model results revealed that pedestrians used the largest safety margin against heavy vehicles while crossing in a group. Pedestrians’ crossing speed has a significant influence on the PSM. It was also found that pedestrians showed the highest level of caution (used the largest safety margin) against right-turning vehicles compared with through vehicles. The glance variable estimates revealed that the “during-crossing glance” is an important determinant of the PSM, while the “before-crossing glance” is insignificant. In addition, unsafe pedestrian crossing behavior concerning distractors highlighted that the use of headphones significantly influences the PSM. The results of the current PSM model could aid in the efficient design of future pedestrian infrastructure and suggest appropriate remedial measures for existing intersection crosswalks to enhance pedestrian safety.