In recent years, China has experienced significant economic growth and some degree of environmental pollution control. However, achieving a perfect balance between the environment and economic development remains a challenge. In order to seek solutions to this issue and promote the sustainable development of cities, this paper starts from the urban level, which is relatively lacking in existing research. Based on the panel data of urban indicators from 2013 to 2021, it quantifies the environmental performance of key cities using the slack-based measure (SBM) model of super-efficiency based on a non-expected output. Furthermore, it utilizes the Tobit panel regression model suitable for limited dependent variables to analyze the impact of driving factors on the environmental performance of key cities, and it further explores the reasons for the loss of urban environmental performance from the dual perspectives of inputs and outputs. The research findings indicate the following. (1) The average environmental performance of 30 key cities has shown an increasing trend but has not yet reached a valid state. The cities’ environmental performance rises in the range of [0.444, 0.821], indicating that there is room for improvement in urban environmental management. (2) Cities in the northeastern region of China have lagged behind the eastern, central, and western regions in terms of environmental performance over this nine-year period, and the redundancy of undesirable outputs is partly responsible for this decline. (3) The large proportion of the secondary industry, the number of vehicles on the road, and the population density have a significantly negative impact on urban environmental performance, while the per capita regional GDP and urban maintenance and construction funds make a positive difference. These research findings provide a scientific basis and valuable insights into urban environment performance enhancement and can serve as a reference for areas in need of balanced development between the urban environment and economic growth.
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