Short answer: usually yes, but it depends on the material and how much winter weather it has to handle. A lot of urban outdoor furniture is built to stay outside, so you don’t necessarily have to drag everything indoors. Powder-coated aluminum, stainless steel, HDPE plastic, and well-sealed teak or acacia can often handle cold weather fine. The bigger risk is water getting into seams, joints, and small cracks, then freezing and expanding. That freeze-thaw cycle is what causes splitting, flaking, and cracking.
Wood can dry out or soak up moisture and split if it isn’t treated. Resin wicker can get brittle in extreme cold, and concrete or stone pieces can crack if water pools on them. So I wouldn’t just leave everything out and forget about it. Before winter, clean and dry each piece thoroughly. Cover furniture with a breathable cover rather than a tight plastic tarp, because trapped moisture is worse than snow. Raise legs off wet ground if possible, store cushions and fabrics indoors, and keep snow from piling up in joints. If you live somewhere with brutal freeze-thaw swings, move lighter or more delicate pieces into a shed or garage.
So yes, you can leave urban outdoor furniture outside during winter, but “without cracking” isn’t guaranteed unless you prep it, cover it properly, and check it during the season. A little care goes a long way.