This paper proposes a set of flood risk indicators referring to flood hazard, exposure, vulnerability, and resilience of households. The indicators incorporate risk material and human dimensions and adopt an approach that highlights the complexity of economic relations in the urban space. Proposed indicators were applied and tested in a prototype built as a simplified model of significant elements of the intra-urban environment simulated as agent networks. The role of the individual household indicators allows mapping the household flood risk at the flood prone area. With adjustments and in view of the available data, the indicators were here used for the analysis of risk and vulnerability to floods in an urban basin located in Belo Horizonte, in south-eastern Brazil, in order to subsidise municipal Civil Defence actions. The proposed indicators are easily built and use widely available information that allows their use and interpretation by various segments of society.