Outdoor thermal comfort (OTC) plays a vital role in enhancing the livability and well-being of urban residents, making it an essential area of research, particularly in the context of climate change. However, few studies have specifically focused on hot and semi-arid regions, especially within residential environments. This study seeks to address this gap by assessing OTC in various residential areas classified as Local Climate Zones (LCZs), ensuring a diverse range of survey locations to evaluate people's comfort and stress levels. Using the Thermal Sensation Vote (TSV) index, the study calibrated the Physiologically Equivalent Temperature (PET) scale for hot and semi-arid climates. In Jaipur, micrometeorological data was monitored alongside thermal perceptions, resulting in 2,428 valid responses gathered during both summer and winter seasons, between 09:00 and 21:00 h, when outdoor activity is common. The analysis revealed that microclimate parameters significantly influence thermal sensations in outdoor environments. Respondents showed high tolerance levels during summer, with variations in thermoneutrality, acceptability, preferences, and comfort across different built typologies. The threshold values identified in this study offer valuable insights for urban planners and designers, enabling them to enhance outdoor thermal comfort during the planning stages, ultimately creating more comfortable and livable urban spaces for residents.