Pedestrian crossing speed and waiting time are critical parameters for designing traffic signals and ensuring pedestrian safety. This study aimed to carry out microscopic level research on pedestrian crossing speed and waiting time at intersections in Dhaka. To fulfill this aim, crossing-related data of 560 pedestrians were collected from three intersections in Dhaka using a videography survey method. Descriptive and statistical analyses were carried out, and then two multiple linear regression (MLR) models were developed for these two parameters by using the collected data. From the results, 1.15 m/s was found to be the design pedestrian crossing speed. Results also show that the crossing speed of pedestrians was associated with intersection control type, gender, age, crossing type, crossing group size, compliance behavior with control direction, and crossing location. In case of waiting time, findings show that pedestrians did not want to wait more than 20–30 s to cross the road. Furthermore, the waiting time of the pedestrians varied with intersection control type, gender, age, minimum gap, waiting location, and vehicle flow. Findings of this study will help to alleviate traffic safety problems by designing an effective intersection control system.