Bimetal radiator heating terminals (BRH) have gradually replaced the traditional cast-iron radiator and have been widely used in urban residential buildings in cold areas of China. Meanwhile, floor heating (FH) terminals are increasing rapidly in recent years. Therefore, two common heating terminals in urban residential buildings exist in cold areas of China, namely, BRH and FH. The comfort of the two heating terminals has been a focus of controversy. To compare the thermal comfort of BRH and FH terminals, field tests and subjective questionnaires were made on the residential buildings during heating seasons in cold areas in China. A total of 71 residences and 136 occupants were investigated in this field study, where 294 and 299 valid data sets were obtained from FH and BRH terminals, respectively. The results showed that FH has significantly higher mean radiant temperature (MRT) and operative temperature, although no significant differences in indoor air temperature, relative humidity and air velocity between the two heating terminals are observed. FH terminals were significantly less dressed compared with those from BRH terminals at the same temperature. The actual lower limit of 80% acceptable temperature for FH and BRH in winter were 15.9 °C and 17.0 °C, respectively. The use of the FH terminals increased people's acceptance of the low-temperature environment and reduced their expectation for high-temperature environment. PMV significantly underestimate the thermal sensation of the occupants. This paper can be a reference for the selection of heating terminals and may lead to more efficient energy use for heating systems.