The diurnal evolution of the atmospheric boundary layer—the lowermost part of the atmosphere where the majority of human activity and meteorological phenomena take place—is described by its depth. Additionally, the boundary layer height (BLH) and the turbulence intensity strongly impact the pollutant diffusion, especially during transition periods. Based on integrated observations from a 325-m meteorological tower and a Doppler Wind lidar in the center of Beijing, the entire diurnal cycle of urban BLH in December 2016 was characterized. Results highlight that the Doppler lidar exhibited it is well suited for monitoring convective BLH while it trudges in monitoring stable BLH, while a 325-m meteorological tower provided an important supplement for Doppler lidar under nocturnal boundary layer and heavily polluted conditions. For the diurnal cycle, under light wind condition, the pattern of urban BLH was largely modulated by thermal forcing of solar radiation and may partly be affected by wind speed. While under strong wind condition, the pattern of urban BLH was largely modulated both by thermal forcing and dynamical forcing. The present work also presented evidence for several new features in the morning and afternoon transitions of the urban boundary layer, showing the duration of the morning transition varied between 1 and 5 h, with the largest value occurring under weak wind with high PM2.5 concentration; while the afternoon transition ranged from 3 to 6 h, which was positively (negatively) correlated to wind speed (PM2.5 concentration). Our work highlights that weak wind speed (weak dynamic motion) and heavy aerosol pollution (weak thermal forcing due to the effect of cooling) can dramatically affect the evolution of the boundary layer.