Abstract The outdoor thermal environment is an important factor when measuring the livability of a city. Residents will avoid intense heat by reducing their outdoor activities, which decreases the vitality of a city and increases the energy consumed for air conditioning. Outdoor thermal comfort has a great impact on outdoor activities; therefore, we need to evaluate and design the urban outdoor thermal environments in cold regions to improve the outdoor thermal comfort level. In this study, we conducted a questionnaire survey to assess the outdoor thermal comfort and adaptive thermal comfort in four different urban forms in Xi'an during July 2019, and measuring meteorological parameters, such as the temperature, relative humidity, wind speed, and black bulb temperature. The results are showed as follows. (1) In the cold study area, urban residents generally perceived the outdoor climate as relatively hot during the summer. (2) The participants exhibited psychological and physical adaptations in terms of their thermal comfort. In particular, when the PET was 30°C, the MTCV was about 1.25 points higher in the later summer period than the early summer period. (3) The neutral PET differs among regions and it is affected by the climate zone and latitude. Comparisons of our results with thermal comfort studies in different regions such as Singapore and Umeå in north Sweden showed that the thermal comfort is correlated with the regional climate and latitude. The neutral PET is higher in tropical regions. Our findings support the theoretical understanding of adaptive thermal comfort in cold regions and they provide a reference for formulating policies related to adaptive thermal comfort.