Responsible Research and Innovation (RRI) is an inclusive approach to the research and innovation process. Regional and local authorities are encouraged to take advantages of RRI in order to address the complexity of the interplay between science and society, especially as it affects territorial development policies. However, adopting the RRI approach is not an immediate or linear process. Consciously or not, many territories have already adopted policies and planning instruments that incorporate RRI, generating effects on the spatial scales. The aim of this study is to provide a methodology to map the inclusion of RRI dimensions (i.e., public engagement, open access, gender, ethics, science education) into regional development policies and spatial planning instruments, in order to detect integrated strategies and elements that are sustainable, open, inclusive, anticipative and responsive. The mapping methodology has been applied to three territorial pilot cases. The results provide the territories with a baseline to improve the integration of the RRI approach in their commitments to develop self-sustaining research and innovation ecosystems. Through the lessons learnt from the pilot cases, recommendations are drawn for the integration of RRI in spatial and urban planning policies and tools.