Urbanization in Kenya has led to rapid growth of cities, particularly informal settlements where a significant portion of the population lives. Theoretical analysis will be employed to examine existing literature and conceptual frameworks relevant to the study of urban development and social welfare policies in African contexts. A theoretical framework is proposed that underscores the importance of collaborative governance models involving multiple stakeholders for effective social welfare delivery in urban settings. Policy-makers should prioritise inclusive planning processes that involve informal settlement dwellers and ensure equitable access to social services.