Urban freight transport (UFT) is simultaneously responsible for maintaining the urban lifestyle and the negative externalities impacting urban areas, necessitating strategies that promote sustainable urban freight transport (SUFT). In addition, the stakeholders and geographic factors involved in UFT impose specific concerns in the planning and operation stages of SUFT. Therefore, this paper proposes a model addressing sustainable last-mile delivery considering the relationship between the activity system, transportation system, and stakeholders involved in UFT. Based on the literature review, we identified UFT planning procedures to achieve SUFT. In a cyclical process, these procedures were considered on the proposed model, integrating freight transport planning with urban planning to develop SUFT and, consequently, sustainable cities.