This study explores the application of the co-design approach in participatory planning for the development of Kambo Tourism Village, located at the intersection of urban and rural areas in Indonesia. By combining the Delphi Consensus Method and Analytic Hierarchy Process (AHP), the study successfully identified and prioritized key aspects in the planning process, with a primary focus on local community participation. The results indicate that the co-design approach is effective in creating a masterplan that not only aligns with the needs and aspirations of the community but also supports the sustainability and inclusiveness of tourism village development. AHP results reveal that local community participation was assigned the highest priority with a weight of 0.35, followed by stakeholder collaboration with a weight of 0.27. Community participation not only contributed to the creation of a well-structured tourism village masterplan but also enhanced human resource quality and strengthened stakeholder collaboration. The impact of this participatory planning process includes increased national recognition for Kambo Village, the village’s success in receiving awards, and local economic growth. Moreover, the study identified a gap between the calculated and expected weights in the AHP process, highlighting the complexity of aligning diverse stakeholder perspectives. These findings offer both practical and theoretical contributions and open opportunities for further research to address the challenges of participatory planning in the context of tourism villages.