With the development of technology, drones have demonstrated convenient and efficient delivery advantages in last-mile urban logistics. This study investigates the dynamic collaborative distribution route planning problem for truck-multiple drones in urban logistics systems. Each truck carries multiple drones for parallel deliveries, and each drone can serve multiple customers per flight. A mixed-integer programming model is developed with the objective of minimizing total delivery costs. A three-stage hybrid heuristic algorithm is designed to solve the problem based on the characteristics of the problem and the model. Through various experimental cases, the correctness of the model and the effectiveness of the algorithm are verified. The results show that the proposed model and algorithm can effectively reduce logistics costs, shorten delivery times, 〖JP3〗and improve delivery efficiency, providing valuable decision-making support for urban logistics distribution.