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Effective urban transportation no doubt serves as engine room and catalyst for driving national economic development. Significantly, the purpose of urban transport is to provide both passenger and freight mobility over specific parts of urban areas including cities, and its efficiency is characterized upon transporting effectively and achieving economies of scale. Hence, this study examined intra-city mobility and characterization in Lagos, Nigeria. The data was sourced from both primary and secondary sources. Primary data detailed the use of two sets of questionnaires administered to commuters and motorists. 182 copies of questionnaire were randomly administered to commuters, while 60 units of the questionnaire were purposively and conveniently administered to motorists. Descriptive and inferential techniques were used for data analysis. Major findings revealed obvious variations in socio-economic parameters of intra-city trip makers and factors influencing trip making. It was observed that journey to work, school, shopping cum business constituted the major trips characterizing in Lagos. Findings also revealed that high patronage priority was given to most used and preferred means due to vehicle travel speed, trip purpose, and availability than safety and comfortability of modal choice. Regression analysis result revealed that commuters’ modal choice and patronage is statistically influenced by operational attributes of mode (e.g. transit time, delay duration, safety, vehicle condition and transit fare etc.) at Sig. p=0.000 and F14165 15.667 which is greater than table value at 5% significant level. The study recommended among others the formulation and implementation of effective policy for urban transport activities; standardization of service operations and expansion of infrastructural facilities including the last-mile in the city.