Urban morphology has a significant impact on sustainable urban outcomes in the ecological, social, and economic sectors. Nonetheless, academics lack clarity and consensus on how to quantify urban morphology indicators, which impedes multidisciplinary research and the creation of integrated sustainable solutions. This comprehensive study develops a detailed taxonomy of urban form indicators related to sustainability, describes quantitative approaches for investigating the linkages between urban morphology and sustainability, and examines research trends, gaps, and future directions. A review of 89 carefully selected studies showed 365 distinct urban morphology measures, with significant variation in names, interpretations, and data formats. The measures were divided into six categories: urban tissue configuration, roadway network, building plot characteristics, land use, natural elements and greenspace, and urban expansion, each with its own subclass. The study indicates that, even though urban morphology is intrinsically spatial, spatial modeling is rarely used to investigate its relationships with sustainability. The research shows a regional bias, with insufficient representation of studies focusing on the Global South and natural elements. This synthesis calls for a standardized classification framework as well as more broad, spatially explicit techniques to foster multidisciplinary research and support effective policy and planning for sustainable urban development.