Cost-effective, novel urea derivatives, 1-phenyl-3-(4-(pyridin-4-ylmethyl)phenyl)urea (U-1), 1‐(4‐fluorophenyl)‐3‐(4‐(pyridin‐4‐ylmethyl)phenyl)urea (U-2), and 1‐(4‐methylphenyl)‐3‐(4‐(pyridin‐4‐ylmethyl)phenyl)urea (U-3) were synthesized to investigate as the corrosion inhibitors for mild steel/1 M HCl interface. Inhibition efficiency increases with the increasing inhibitor’s concentration but decreases with increasing temperature. Thermodynamic adsorption and activation parameters demonstrate that the adsorption of inhibitors follows Langmuir isotherm via physicochemical interactions. Potentiodynamic polarization measurements reveal that the inhibitors are mixed-type, impeding the charge-transfer process. Surface analysis supports a thin inhibitor film formation on the mild steel. The maximum inhibition efficiency of U-1, U-2 and U-3 are 94.97 ± 0.38%, 93.60 ± 0.62% and 97.42 ± 0.48% respectively. The calculated electrochemical impedance spectra (EIS) parameters such as ohmic resistance, double layer capacitance, relaxation time, effective thickness, and conductivity of grain and grain boundary are in-line with the efficiencies of NHUs. The performance of corrosion inhibitors follows a sequence U-3 > U-1 > U-2, emphasizing the influence of the substituent’s inductive effect (-CH3 > -H > -F) in inhibitors. Density functional theory (DFT) was performed to understand the correlation between molecular structure and inhibition efficiency. The Fukui indices confirm the presence of local attacking sites on the metal surface where inhibitors attack. A molecular dynamic (MD) simulation is used to determine the interaction energies between the inhibitors and mild steel. Radial Distribution Function (RDF) measurements confirm the existence of the chemical nature of the interaction. Furthermore, the diffusion coefficient of corrosive particles, self-diffusion coefficient of inhibitors, fractional free volume (FFV), and interaction between inhibitor’s film and corrosive particles are examined. Theoretical studies support experimental results.