Urban spatial expansion resulting from urbanization in Sub-Saharan Africa (SSA) is growing and will not stabilize in the near future. Sub-Saharan Africa’s urban growth rate is climbing faster than developing economies. Efforts should be concentrated on accommodating this phenomenon through the promotion of sustainable urban planning and development. Relying on secondary data, this research examines models of indigenous Sub-Saharan African urban forms and residential architecture vernacular to understand these forms and their characteristics, and how these models and associated management, design, and planning principles can be adopted in a contemporary context. Also, studies of established indigenous building materials and technology, which can be adapted to suit a low-cost and sustainable economy, are explored.