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Achieving urban net-zero targets requires coordinated planning across electricity, heating, and gas systems while managing renewable supply and loads uncertainties. We present a co-planning framework integrating building-scale renewable energy hub optimization (REHO) with power grid’s distribution-level energy storage systems (ESSs) allocation and line reinforcement (LR). The building layer uses REHO to generate Pareto-optimal PV and net load profiles. The grid layer co-optimizes ESSs and LRs via a second-order cone optimal power flow relying on the Benders decomposition. Validation on a Swiss urban system with 2000 buildings demonstrates ESS and LR deployment cost reductions of 43.4% (2030), 38.2% (2040), and 34.1% (2050) versus a standard reactive planning. The framework deploys 6 MWh ESS and reinforces 15 lines, enabling PV growth from 2.9 MW to 27.7 MW while phasing out 762 oil boilers and reducing emissions by 53.6% by 2050, aligned with local utility’s net-zero targets. The approach uses standard solvers and scales to large networks, offering a practical pathway for urban energy system operators and municipalities to coordinate planning across sectors.