Crisis maps play a significant role in emergency responses. Users are challenged to interpret a map rapidly in emergencies, with limited visual information-processing resources and under time pressure. Therefore, cartographic techniques are required to facilitate their map cognition. In this study, we analyzed the exogenous and endogenous disruptions that users needed to overcome when they were reading maps. The analysis results suggested that cartographers’ taking the stressors into consideration could promote the cognitive fit between cartographers and users, improving map cognition and spatial information supply–demand matching. This paper also elaborates the course of map visual information processing and related graphic variables to visual attention attributes. To improve the users’ map cognition in time-critical emergency situations, crisis map design principles and a methodology were proposed. We developed three fire emergency rescue road maps and performed two evaluations to verify the effectiveness of the principles. Our experiments showed that the principles could effectively facilitate the users’ rapid map perception and proper understanding, by reducing their cognitive load, and could improve the quality of the crisis maps to some extent.