The aim of this paper is to present a validity and reliability study of the translation into Spanish and adaptation to the transport planning domain of the Basic Psychological Needs Satisfaction scale to assess autonomy, competence, and relatedness satisfaction of urban commuters associated to the use of habitual travel modes, expanding past studies that only focused on a particular population of study and type of travel behavior. An explanatory analysis of the main relations found is also reported, including micro-mobility and shared travel options. To this end, data collected by an online survey during the summer of 2021 from 949 respondents who provided valid data is used. The average age of respondents was 42, and women were slightly underrepresented (40.4%). Factor structure is analyzed and a three-factor ESEM model supports the definition of the constructs. Internal consistency indices show adequate values for the three factors. No statistically significant differences of factor mean values are observed according to sex. The youngest respondents associate the highest values of satisfaction to travel modes when commuting, while the old adults score the lowest values. Active travel modes are associated to the highest values of satisfaction. On the other hand, urban bus is related to the lowest values of satisfaction. Private e-scooter and shared mobility are associated with a higher satisfaction than driving a private car. Future work and practical applications are identified.