Abstract Cities around the world are constructing bicycle infrastructure to increase cycling. However, identifying efficient design solutions and determining how bicycle infrastructure planning knowledge can be integrated into comprehensive policy remains a challenge. The objective of this paper is to shed light on the strengths and weaknesses of current bicycle infrastructure planning in both an experienced city, Copenhagen, and in a less experienced city, Beijing. The paper examines how local design solutions are identified, how efficient they are and to what extent bicycle infrastructure planning is supported by the local planning cultures. The study draws on the successful experience of Copenhagen to identify challenges to bicycle infrastructure planning in Beijing and to improve it based on lessons learnt. The study uses qualitative semi-structured data collected from 11 interviews with key planners. It employs the Dutch CROW principles to assess the efficiency of the bicycle infrastructure planning. The analysis of the role of the local planning culture is framed by the ‘culturized planning model’. The study finds that bicycle-friendly infrastructure planning could be strengthened in Beijing by integrating and applying all the CROW principles simultaneously. It concludes that Beijing can draw inspiration from Copenhagen by increasing the priority of cycling in both the planning and societal environment. The planning environment could be strengthened by professionalizing bicycle infrastructure planning and by aligning the prioritization of bicycle transport between policies. The societal environment could become more supportive by improving the status of the bicycle as a means of transport.