Urban transport drivers, specifically taxi and motorcycle taxi drivers, are exposed to particular environmental, societal, and health situations related to their occupation. To compare work capacity and quality of life of taxi and motorcycle taxi drivers, and correlate quality of life and work ability, a cross-sectional descriptive study was conducted among 232 motorcycle taxi drivers and 60 male taxi drivers in urban cities of Brazil. Three instruments were used for evaluation: a questionnaire on sociodemographic and occupational issues, the Work Capacity Index (WCI), and the WHOQOL-bref (World Health Organization Quality of Life–Bref). Taxi drivers presented better evaluation scores in the physical and psychological domains and general quality of life (QOL) (p < 0.01), and better self-perceived work ability (lower physical and mental demands, fewer diagnosed diseases, less incapacity for professional practice, p < 0.001). In addition, there was a positive relationship between QOL and WCI (p = 0.001). Motorcycle taxi drivers had worse self-perceived QOL and of work ability, and there was a positive correlation between QOL and work ability.