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The overpasses and the terrain under them in Chongqing, a mountainous city in China, are complex and diverse, and some spaces under the overpasses are integrated and reconstructed into the underpass green space for citizens to stroll about or have a rest. From the perspective of visitor perception, this paper constructs a perception evaluation system of the environmental characteristics of underpass green space in mountainous cities from the following five environmental perception dimensions: path organization, security, aesthetic value, physical environment, activities and cultural. The IPA-Kano model is used to quantify environmental perception, and the main environmental factors affecting the improvement of recreation satisfaction of underpass green space in three types of terrain are explored, with a view to improving the environment and service functions of underpass green spaces in high-density interchange networks in mountainous cities, and enhancing the attractiveness of underpass green spaces. It can be found from the study that: (1) Among the five environmental perception dimensions, visitors pay more attention to the physical environment quality of the underpass green space and their physical and psychological activity experience, while their demands for visual senses are relatively low. Due to the deficiency or lack of leisure facilities, sports facilities, children’s playgrounds and amusement equipment, the dimension of “activities and cultural perception” of the underpass green space has the lowest scores of all. (2) The existing sites, facilities and landscape resources of the underpass green space, different terrain types and underpass environment are the important reasons that affect the performance of environmental perception factors and their priority ranking results. (3) The improvement of security of the arrival path or sports facilities is beneficial to improve visitor satisfaction of underpass green space of three types of terrain. The number of environmental factors to be optimized of the three types of terrain are ranked as: mountainous green space > flat green space > concave green space. Among them, four environmental factors have a high priority in two kinds of underpass green space, which are the distribution and quantity of leisure facilities, the effect of noise reduction and sound insulation, the adequacy of activity venues and the distribution and quantity of sports facilities. Finally, according to the particularity of the underpass environment and the characteristics of three types of terrain, this paper puts forward some suggestions for optimizing the service function of underpass green space from five perceptual dimensions.