The outbreak of the novel coronavirus pneumonia (COVID-19) has severely affected people’s lives, health and daily life. The population, production and living resources in cities are relatively concentrated, and the losses are often more serious when public health emergencies occur. In addition, due to rapid population growth and disorderly spread of urban boundaries, urban vulnerability and the probability of secondary disasters have increased, and the difficulty of post-disaster prevention and recovery has also increased. Urban resilience can effectively respond to sudden disaster risks, and through a series of interventions, help cities transition from a collapsed state to a self-organizing cycle of steady state, and gradually recover. Therefore, it has become increasingly important to formulate specific prevention and control mechanisms and strategies for public health emergencies, and to build an urban resilience planning framework oriented to prevent and control emergencies. In this context, this article firstly expounds the concept of urban resilience, that is, urban resilience refers to the urban system that can withstand a lot of changes and self-organize and adapt to maintain the original function and structure of the city when faced with acute shocks and chronic pressures. Secondly, the article sorts out the characteristics and meanings of urban resilience planning, including self-organization, redundancy, diversity, adaptability, synergy, and interdependence. By analyzing the response relationship between the characteristics of resilient cities and response measures to public health emergencies, the applicability of urban resilience planning to respond to public health emergencies is discussed. It is believed that the characteristics of resilient urban planning can influence and help address public health emergencies. The construction and implementation of various response measures can effectively respond to the incident. Thirdly, the article is based on the four aspects of vulnerability analysis, urban governance, prevention, and uncertainty-oriented planning in the framework of urban resilience planning, combined with the four development cycles of the precursor period, outbreak period, treatment period and recovery period of public health emergencies. Based on the principle of resilient city characteristics, a framework for early warning, response and recovery is constructed. Finally, the article proposes response strategies for public health emergencies based on the framework of early warning, response and recovery. At the early warning level, it evaluates potential risks and builds an early warning system to prepare for disaster prevention; at the response level, it includes the provision of redundant allocation of urban emergency resources, the diversified construction of urban infrastructure, and the multi-level collaboration of urban ecological environment. The four major planning strategies are for self-organized response at the community level; at the recovery level, it includes focusing on the reconstruction and restoration of resilient urban planning, emphasizing post-disaster assessment and feedback, and enhancing public awareness of disaster prevention with a view to constructing a socialized, instant, informatized, and comprehensive, urban resilience framework for responding to public health emergencies.