The aim of this article is to propose urban cargo guidelines for the distribution of goods in the main Brazilian urban centres, based on the City Logistics concept. Transport systems in urban and metropolitan areas in Brazil have suffered heavy impact over the years due to intensifying economic growth. Urban transport has been affected, particularly, by increasing numbers of passenger vehicles and the use of road vehicles to transport necessary goods and several problems are identified. City Logistics concepts and modelling can be an efficient tool to study the planning of cargo handling activities in urban areas. This study drew substantially on a survey by questionnaire administered to specialists in transport logistics. The questionnaire comprised six questions addressing items designed to contemplate the need for urban freight logistics planning, existing policies and regulations. The objective of the survey was to ascertain the need to develop specific guidelines for urban freight transport to be considered in urban planning. The guidelines that are the object of this study were drawn up on the basis of the questions posed and the expert interviewees’ responses. Transport Master Plans must embody the guidelines described in this research. In towns, mobility is complex and cargo circulation issues need to be carefully addressed. The guidelines presented in this study tackle freight mobility by renewing public policies. Some comparisons with major Brazilian capitals legislation are presented.