Urban floods are detrimental to societies, and flood mapping techniques provide essential support for decision-making on the better management of flood risks. This study presents a GIS-based flood characterization methodology for the rapid and efficient identification of urban flood-prone areas, which is especially relevant for large-scale flood hazards and emergency assessments for data-scarce studies. The results suggested that optimal flood mapping was achieved by adopting the median values of the thresholds for local depression extraction, the topographic wetness index (TWI) and aggregation analyses. This study showed the constraints of the depression extraction and TWI methods and proposed a methodology to improve the performance. A new performance indicator was further introduced to improve the evaluation ability of hazard mapping. It was shown that the developed methodology has a much lower demand on the data and computation efforts in comparison to the traditional two-dimensional models and, meanwhile, provides relatively accurate and robust assessments of flood hazards.