This research presents a novel optimization framework for collaborative last-mile delivery, integrating trucks, drones, and quadruped robots, to address the complexities of urban logistics. The problem is formulated as a Vehicle Routing Problem with Drones and Robots (VRP-DR), incorporating real-world constraints such as payload capacities, energy consumption, and accessibility limitations. Within this framework, trucks serve as mobile platforms, facilitating the launch and recovery of drones and robots to enhance operational flexibility. A mixed-integer linear programming model is developed to minimize total cost and delivery time, while ensuring seamless fleet synchronization. The proposed model supports multi-visit sorties, enabling drones and robots to serve multiple customers within a single trip. Computational results demonstrate the model’s efficacy in generating optimal solutions for small to medium-scale instances, contributing to the advancement of scalable, multimodal approaches for efficient last-mile delivery.