Steady growth in global greenhouse gas emissions from transport is driven by growing demand for car travel. Cities hold large potential to reduce energy demand and emissions from mobility through encouraging shorter travel distances and sustainable travel modes. In European cities however, personal cars still dominate travel, facilitating continued growth of transport emissions and having negative implications for numerous other dimensions of sustainability. A growing body of research investigates linkages between urban form and mobility, mostly using aggregate data in multiple cities, or disaggregated data for individual cities. Here, we compare urban travel patterns and influences of urban form at spatially disaggregated scale across nineteen cities in four European countries using statistically advanced methods. We enrich travel survey data with metrics describing local urban form. We compare car ownership and travel patterns across cities and use supervised machine learning to explore influences of urban form and other features on mode choice, car ownership, and trip distances. Residential proximity to the city center is the greatest enabler of sustainable urban mobility. Future residential development should be concentrated near to urban centers. Overall city size is important, as occupants of small and medium-sized cities have higher car ownership and use than large cities, motivating increased attention on sustainable mobility transitions outside of large cities. We highlight targeted solutions to increase access to sustainable mobility for certain population groups, and for longer urban trips. Our results confirm that urban planning is a key instrument for increasing sustainability of land transport.