As the volume and scale of urban expressways continue to increase, renewal remains a concern for urban development. The renewal and decision-making of an urban expressway need to be endowed with new concepts to adapt to the rapid development of cities. Nevertheless, in addition to considering road factors such as facility conditions, driving conditions, and environmental protection, the existing evaluation system lacks comprehensive consideration of factors that improve resilience and adapt to future urban development, and it lacks a quantifiable general update evaluation system. Thus, the establishment of a comprehensive renewal indicator system and a mixed evaluation framework is a challenge. This study proposes an evaluation framework of expressway renewal indicators that integrates the three dimensions of macro, meso, and micro based on the fuzzy Delphi method, the fuzzy AHP method, and the TOPSIS method. A q-rung orthopair fuzzy linguistic set was used to handle expert uncertainty information in the process of conducting fuzzy evaluations. The indicators were refined into general and quantifiable evaluation indicators to improve their versatility. Moreover, the renewal value of expressways was measured and calculated using the TOPSIS method, and four renewal intervals were divided according to the calculation results. As a result, 28 renewal indicators were screened out, and the five factors with the greatest impact on renewal were the demand for transport development, the renewal of facility and service functions, the upgrading of institutional resilience, structural renewal, and economic development. The model was applied to eight expressways in Shanghai to calculate the renewal degree value and divide the renewal status. The model could identify the renewal needs of each road to guide the renewal decision. This study proposes an evaluation model to measure urban expressway renewal studies and provides a reference for urban renewal in the area of sustainable development