We discuss municipal physical-spatial planning instruments as vehicles for the implementation of Sustainable Development Goals (SDGs) in cities in the Global South. We do this by focusing on Medellin, Colombia, a city that has endured significant challenges–mainly related to poverty and violence–, but has attracted significant international attention due to its approach to territorial planning and its innovative application of new and existing legal tools to transform realities and repay historical debts with the urban poor. We performed a review of the most important documents related to SDG implementation in the country and the city, as well as Municipal Development Plans and legal planning instruments issued from 1 January 2016. The article maps active planning instruments and suggests the analysis, already from the diagnosis and formulation phases, of the linkage among strategies and projects, and SDGs, and the inclusion of SDG considerations in citizen participation instruments such as so-called Local Development Plans.