Recently, localized heavy rainfall has led to increasing flood damage in urban areas such as Gangnam, Seoul (’12), Busan (’13), Ulsan (’16) Incheon and Busan (’17) etc. Urban flooding occurs relatively rapidly compared to flood damage in river basin, and property damage including damage to houses, cars and shopping centers is more serious than facility damage to structures such as levees and small bridges. In Korea, heavy rain warnings are currently announced using the criteria set by KMA (Korea Meteorological Administration). However, these criteria do not reflect regional characteristics and are not suitable to urban flood. So in this study, estimated the flooding limit rainfall amount based on the damage records for Seoul and Ulsan. And for regions that can not estimate the flooding limit rainfall since there is no damage records, we estimated the flooding limit rainfall using a Neuro-Fuzzy model with runoff characteristics. Based on the estimated flooding limit rainfall, the urban flood warning criteria was set. and applied to the actual flood event. As a result of comparing the estimated flooding limit rainfall with the actual flooding limit rainfall, the error of 1.8~20.4% occurred. And evacuation time was analyzed from a minimum of 28 minutes to a maximum of 70 minutes. Therefore, it can be used as a warning criteria in the urban flood.