Due to the increasing attention paid to environmental issues and climate change, many federal and state rules have been enacted for renewable energy generation. The share of renewables in the power mix is expected to grow from 25% nowadays to 67% in 2040. Solar energy, as one of the renewable resources widely available in many regions of the world, presents a great potential to help meet the goal. As part of the contribution to renewable energy studies, this chapter reviews key factors considered in the solar PV potential assessment and proposes a general GIS-based framework to evaluate the solar PV potential at the city scale. High-resolution LiDAR (Light Detection And Ranging) data are used to accurately characterize rooftops and the surrounding built environment. Meteorological data are incorporated to capture the temporal variation of solar energy. Optimal panel tilt angle and orientation are also considered. A case study is conducted in the City of Tucson, Arizona, USA. Assessment results demonstrate the capability of the method in identifying suitable areas for rooftop solar PV system installation. Relationships between socioeconomic factors and solar potential, as well as actual solar installation, suggest equality issues that need to be addressed. The study provides important insights into solar energy planning and urban sustainability.