Urban vulnerability is affected by changing patterns of hazards due to climate change, increasing inequalities, rapid urban growth and inadequate infrastructure. While we have a relatively good understanding of how urban vulnerability changes in space, we know relatively little about the temporal dynamics of urban vulnerability. This paper presents a framework to assess urban vulnerability over time and space to address this gap. We apply the framework to Amsterdam, Rotterdam, and The Hague, the Netherlands. Using high-resolution, anonymised ambulance calls and socio-economic, built environment, and proximity data, we identify three temporal patterns: ’Midday Peaks’, ’Early Birds’, and ’All-Day All-Night’. Each pattern represents a unique rhythm of risk arising from the interaction of people with diverse demographic and socio-economic backgrounds and the temporal flow of their daily activities within various urban environments. Our findings also highlight the polycentric nature of modern Dutch cities, where similar rhythms emerge in areas with varying population densities. Through these case studies, we demonstrate that our framework uncovers the spatio-temporal dynamics of urban vulnerability. These insights suggest that a more nuanced approach is necessary for assessing urban vulnerability and enhancing preparedness efforts.