DiffUrb is an interdisciplinary research collaboration aiming at describing and understanding how urban differences in terms of diverse population groups are dealt with across five European cities: Geneva, Brussels, Hamburg, Turin, and Zurich. To this end, we developed a three-stage survey to explore and describe experiences of urban dwellers in regard to inclusivity, sense of place, discrimination, mobility behaviors, and social networks. Respondents were incentivized to participate in all three stages of the survey with a 15 Euro gift certificate. The data was linked across the three parts of the survey using personal identification codes. The first stage (n=5′358) of this large-scale online survey covered sociodemographic information of respondents, and additionally queried their perceptions of inclusivity and public participation in their respective cities. In the second stage (n=2′842), the survey focused on regularly visited locations. The aim was to understand how individuals navigate their cities by investigating participants' daily community patterns, frequency of travel, and mobility choices. The third stage (n = 2′310) surveyed the role of social networks in mitigating experiences of discrimination and fostering inclusivity. Participants were asked about the composition, strength, and support of their social connections, thus providing information to uncover the mechanisms through which social networks shape individuals' experiences within urban environments. Initial findings presented in this data paper are to demonstrate the potential of the data to inform policy interventions, urban planning initiatives, and community-based interventions aimed at fostering more inclusive and equitable cities.