Virtual urban green environment images and audio stimuli had been proven to have restorative effects on subjects’ physical and mental health. In this area, researchers predominantly focused on visual, auditory and olfactory aspects, while tactile and gustatory senses have been minimally explored. However, the optimal combination of sensory stimuli for promoting physical and mental recovery remains unclear. Therefore, a simulated sensory stimulation approach involving 240 participants was employed, with 30 individuals included in each of the eight experimental groups: the visual–auditory (VA), visual–auditory-olfactory (VAO), visual–auditory-tactile (VAT), visual–auditory-gustatory(VAG), visual–auditory-olfactory-tactile (VAOT), visual–auditory-olfactory-gustatory (VAOG), visual–auditory-tactile-gustatory (VATG), and visual–auditory-olfactory-tactile-gustatory (VAOTG) groups. This study aimed to explore the differences in participants’ physiological and psychological health recovery after exposure to different combinations of simulated sensory stimuli in virtual UGSs. The results indicated that the following: (1) In terms of physiological recovery, the blood pressure of the 8 experimental groups decreased significantly after the experiment, indicating that the virtual urban green space environment has a certain recovery effect on physiological state. The combination of VAOTG stimuli in the multisensory group resulted in the best blood pressure recovery (p