Abstract Based on the panel data of 282 cities above prefecture level in China from 2009 to 2020, this paper analyzes the influence and mechanism of accessibility improvement on urban spatial efficiency in China. The results are as follows: (1) The improvement of accessibility can promote the efficiency of urban space, effectively attract the agglomeration of labor and capital and promote the effective use of urban land elements; (2) The direct promoting effect of urban accessibility on urban spatial efficiency is greater than the indirect promoting effect of factor agglomeration on urban spatial efficiency; (3) From the perspective of city size and economic endowment, the impact of changes in urban accessibility on the urban spatial efficiency of large-scale cities and cities in poverty-stricken areas is relatively greater than that of small and medium-sized cities and cities in non-poor areas. Therefore, speeding up the construction of transport infrastructure, promoting the interconnection between cities and stimulating the intermediary effect of factor agglomeration will contribute to the efficient development of Chinese cities.