As cities grow in size and number of inhabitants, continuous monitoring of the environmental impact of sound sources becomes essential for the assessment of the urban acoustic environments. This requires the use of management systems that should be fed with large amounts of data captured by acoustic sensors, mostly remote nodes that belong to a wireless acoustic sensor network. These systems help city managers to conduct data-driven analysis and propose action plans in different areas of the city, for instance, to reduce citizens’ exposure to noise. In this paper, unsupervised learning techniques are applied to discover different behavior patterns, both time and space, of sound pressure levels captured by acoustic sensors and to cluster them allowing the identification of various urban acoustic environments. In this approach, the categorization of urban acoustic environments is based on a clustering algorithm using yearly acoustic indexes, such as Lday, Levening, Lnight and standard deviation of Lden. Data collected over three years by a network of acoustic sensors deployed in the city of Barcelona, Spain, are used to train several clustering methods. Comparison between methods concludes that the k-means algorithm has the best performance for these data. After an analysis of several solutions, an optimal clustering of four groups of nodes is chosen. Geographical analysis of the clusters shows insights about the relation between nodes and areas of the city, detecting clusters that are close to urban roads, residential areas and leisure areas mostly. Moreover, temporal analysis of the clusters gives information about their stability. Using one-year size of the sliding window, changes in the membership of nodes in the clusters regarding tendency of the acoustic environments are discovered. In contrast, using one-month windowing, changes due to seasonality and special events, such as COVID-19 lockdown, are recognized. Finally, the sensor clusters obtained by the algorithm are compared with the areas defined in the strategic noise map, previously created by the Barcelona city council. The developed k-means model identified most of the locations found on the overcoming map and also discovered a new area.