Municipal infrastructure assets systems in Senegal have been identified as crucial for enhancing service delivery efficiency. A difference-in-differences (DID) model will be employed to measure the impact of enhanced municipal infrastructure asset management on service delivery efficiency. The analysis revealed an average improvement in service delivery efficiency by 15% across monitored municipalities, with significant variations in different regions. The DID model demonstrated a robust method for quantifying yield improvements in Senegalese municipal infrastructure systems. Further research should focus on replicating this methodology in other regions and exploring additional factors influencing municipal service delivery efficiency. The maintenance outcome was modelled as $Y_{it}=\beta_0+\beta_1X_{it}+u_i+\varepsilon_{it}$, with robustness checked using heteroskedasticity-consistent errors.