This paper proposes a hierarchical Bayesian network model (BNM) to quantitatively evaluate the resilience of urban transportation infrastructure. Based on systemic thinkings and sustainability perspectives, we investigate the long-term resilience of the road transportation systems in four cities of China from 1998 to 2017, namely Beijing, Tianjin, Shanghai, and Chongqing, respectively. The model takes into account the factors involved in stages of design, construction, operation, management, and innovation of urban road transportation, which collected from multi-source data platforms. We test the model with the forward inference, sensitivity analysis, and backward inference. The result shows that the overall resilience of all four cities' transportation infrastructure is within a moderate range with values between 50% to 60%. Although they all have an ever-increasing economic level, Beijing and Tianjin demonstrate a clear "V" shape in the long-term transportation resilience, which indicates a strong multidimensional, dynamic, and non-linear characteristic in resilience-economic coupling effect. Additionally, the results obtained from the sensitivity analysis and backward inference suggest that urban decision-makers should pay more attention to the capabilities of quick rebuilding and making changes to cope with future disturbance. As an exploratory study, this study clarifies the concepts of long-term multi-dimensional resilience and specific hazard-related resilience and provides an effective decision-support tool for stakeholders when building sustainable infrastructure.