This report provides an overview of the main EU Research and Innovation (R&I) actions for and with cities to help them accelerate their transition towards sustainability and climate neutrality. These actions, together with urban related policies across the European Commission Services, contribute to the implementation of targets of international frameworks (such as the COP21 Paris Agreement, the Sustainable Development Goals 2030 (SDGs), the UN Habitat III new Urban Agenda) to which cities, have committed and which will help deliver on the European Green Deal objectives. The report maps city related actions, initiatives, platforms and networks funded under the Horizon 2020 Framework Programme, highlighting their impact on urban environments and their contribution to advancing urban policies. It also maps new city policy priorities and future trends under Horizon Europe. In particular, it provides an EU quantitative knowledge base on innovative urban policies and planning, for decision makers, urban planners and practitioners, strenthening the science-policy-private sector interface.