<p>This article introduces the concept of “sensual urbanism” as a critical intervention in urban theory, challenging the dominant paradigm of hypersexuality in urban discourse. While acknowledging the valuable insights gleaned from critiques of hypersexual urbanism—particularly regarding objectification and exclusion in public spaces—we argue that this narrow focus often reduces the complexity of urban experiences to overt sexuality, neglecting the multifaceted sensory dimensions that shape social connections and everyday life. Drawing on non-representational theory, queer theory, and feminist geography, we propose an expanded framework that embraces a multi-sensory approach to urban design. This framework considers all five senses—sight, sound, touch, taste, and smell—as crucial elements in fostering inclusivity, belonging, and empathy within urban spaces. By moving beyond the visual hegemony prevalent in architectural discourse, sensual urbanism foregrounds the diverse sensory experiences that contribute to the richness of urban life, with particular emphasis on inclusion for marginalized communities whose sensory realities may diverge from normative standards. Through case studies, including London’s sensory gardens and Toronto’s Church-Wellesley Village redesign, we demonstrate the practical application of multi-sensory urbanism. Our findings reveal that reducing urban spaces to sexualized identities can perpetuate exclusion and hinder diverse experiences of belonging. Conversely, incorporating sensory design elements—such as tactile surfaces, multi-sensory signage, and soundscapes—can create more inclusive public spaces. This article's primary contribution lies in establishing sensual urbanism as a comprehensive framework for reimagining urban intimacy and inclusion, advocating for design strategies that acknowledge the plurality of sensory experiences in creating more just and accessible cities.</p>