Abstract Urban space for new transportation facilities cannot meet the increasing traffic demand. Afterward, scholars gradually increased attention to the resilience evaluation of urban road networks. Therefore, we proposed a resilience assessment framework of the urban road networks, including the resilience performance index, the robustness index, and the recovery index. Then we simulated the cascading failure based on a nonlinear load-capacity model with two capacity control parameters: α and β . Results show that the intersection-based attack has the most significant impact on resilience, and resilience is positively correlated with the node degree of the attacked intersection. The increase of α and β could enhance the resilience, and the urban road network achieves the best resilience performance when α = 0 . 3 , β = 0 . 5 . Compared with the deliberate attack strategy, the resilience performance under the random attack strategy is more robust. This research can provide the foundation for optimizing urban road networks and multi-mode urban public transit networks.