To address the issues of preference dependence and loss aversion of decision makers under risk conditions in the evaluation of urban flood disaster emergency management efficiency, an improved grey group decision-making model integrating the risk preference of decision-makers was constructed. Firstly, a decision-maker weight determination method based on group consensus and difference was proposed, which overcame the limitation of traditional method that ignored differences of decision-maker's professional background, experience and personal preference when integrating individual information. Then, the TODIM method was proposed to reduce the problem of loss overestimation faced by decision makers under risk when calculating dominance. Finally, the model was applied to the efficiency evaluation of urban flood disaster emergency management schemes, which verified its effectiveness. The results show that the scheme of improving the emergency response and rescue system is superior to both the early warning and monitoring system construction scheme and information technology support scheme, when comprehensively considering emergency rescue efficiency, disaster prevention and mitigation effect, resource utilization efficiency and emergency management cost. Moreover, this optimal emergency scheme remains robust in 81.82% of the scenarios.