The evaluation of on-street parking efficiency is considered a necessary basis for the optimization and management of on-street parking as well as the development of urban intelligent parking systems. Therefore, an evaluation method of on-street parking efficiency based on the entropy weight Critic-Topsis model is proposed in this paper. Firstly, nine indexes, such as the number of parking spaces, the remaining width of the road, and the cumulative number of parking, are selected from three aspects: parking space attributes, operating characteristics, and traffic impact, to construct the evaluation index system of on-street parking efficiency. Secondly, an evaluation method of the entropy weight Critic-Topsis model is proposed based on the data characteristics of the evaluation index of on-street parking efficiency. The entropy weight method and Critic method are employed to calculate the weight of each index, and then the improved Topsis model is utilized to quantitatively evaluate the parking lots. Finally, this model is utilized to analyze the data of 10 on-street parking lots in Beijing, resulting in the evaluation results and rankings for each parking lot. It is found that in the evaluation index system of on-street parking efficiency, the number of parking spaces, the utilization rate of parking spaces, and the remaining width of the road have significant influences on the evaluation results, with weights of 22.99%, 13.72%, and 13.71% respectively. In the case analysis of 10 on-street parking lots in Beijing, higher scores are observed for on-street parking lots such as Gongti East Road, Keyuan Road, and Huayuan North Road, which are 0.6594, 0.6113, and 0.6081, respectively. Moreover, relevant suggestions and optimization measures are provided for the on-street parking lots of Chunhe Road and Lingnan Road, which have lower scores, aiming to enhance the long-term management system of urban on-street parking and improve the level of urban traffic management.