The use of an inconsistent speed limit determination method can cause low speed limit compliance. Therefore, we developed an objective methodology based on engineering judgment considering the traffic accident rate in road sections, the degree of roadside development, and the geometric characteristics of road sections in urban roads. The scope of this study is one-way roads with two or more lanes in cities, and appropriate sections were selected among all roads in Seoul. These roads have speed limits of the statutory maximum speed of 80 km/h or lower and are characterized by various speeds according to the function of the road, the roadside development, and traffic conditions. The optimal speed limits of urban roads were estimated by applying the characteristics of variables as adjustment factors based on the statutory maximum speed limit. As a result of investigating and testing various influence variables, the function of roads, the existence of median, the level of curbside parking, the number of roadside access points, and the number of traffic breaks were selected as optional variables that influence the operating speed. The speed limit of one-way roads with two or more lanes in Seoul was approximately 10 km/h lower than the current speed limit. The existing speed limits of the roads were applied uniformly considering only the functional road class. However, considering the road environment, the speed limit should be applied differently for each road. In the future, if the collection scope and real-time collection of road environment information can be determined, the GIS visualization of traffic safety information will be possible for all road sections and the safety of road users can be ensured.