Assessing Urban Environmental Performance of European Cities Through Citizens’ Perceptions

European urban policy increasingly requires city benchmarks that are people-centred, multidimensional and methodologically defensible, yet perception-based environmental evidence is rarely aggregated without arbitrary weighting. Accordingly, this paper develops and justifies a synthetic index of perceived urban environmental performance (UEP) for European cities. Specifically, using the environmental module of the 2023 Eurostat Urban Audit Perception Survey (UAPS) for 83 Functional Urban Areas (FUAs), four satisfaction indicators (air quality, noise, cleanliness and green spaces) are aggregated with a benefit-of-the-doubt (BoD) composite indicator that assigns each city endogenous, self-favouring weights. Standard, weight-restricted and cross-efficiency variants are estimated, benchmarked against an equal-weight comparator, and embedded in an exploratory spatial data analysis. The results demonstrate that nine cities form the efficient frontier, led by Oulu, Luxembourg and Zurich, while Skopje, Naples and Athens anchor the lower tail. Additionally, a robust North–South gradient emerges, and green space satisfaction is the dominant structural driver of composite scores, partially compensating weak air quality in many cities. The study addresses perception-based BoD benchmarking—uncovering dimension-specific environmental governance deficits masked by national indicators—and complements objective environmental monitoring for European Union (EU) cohesion and climate-neutrality policy.