The Sustainable Development Goals (SDGs) were adopted in 2015 to be a guideline to promote sustainable development through partnerships. Goal 11 was designed to improve the quality of life in cities however, confronted local governments with new challenges to delivery services and increase citizen participation. In this study, a conceptual framework was developed, and distinct indicators were analyzed to facilitate the implementation of SDG 11 in Brazilian municipalities. Two case studies were deployed based on the Multi-Actor Multi-Criteria Analysis (MAMCA) to guarantee stakeholder participation during the whole process. The results brought to light important challenges to urbanization at local levels. Also, the results suggest shifts in the ongoing model to evaluate the implementation of SDG 11 in Brazil. Governance, transparency and social participation were identified as critical issues to be addressed. Moreover, it will be necessary to adjust existing indicators and organize a consistent and frequent method to evaluate progress towards achieving SDG 11 targets at local levels. Integration of plans and policies related to climate change and disaster risk reduction represents another challenge to be faced by local governments. Finally, MAMCA can be a helpful tool to support local decision-makers to implement SDG 11 based on a multi-stakeholder view.