The debate on density and urban planning returned to the centre because of the COVID-19 pandemic. The pandemic reaffirmed that the built environment of cities is a crucial determinant of health and reaffirms the importance of upgrading informal settlements. It is estimated that in sub-Saharan Africa, informal settlements accommodate more than 60% of the urban population. In response to the COVID-19 pandemic, the South African government put in place different measures trying to slow the spread of the virus. One of the strategies was to focus on population density, specifically in informal settlements. Densification and de-densification are relational processes driven by political, economic and social change and conditions. Reimagining informal settlements and urban planning in South Africa and Africa will require cities to use a mix of approaches. Cities are adapting to urban design, reclaiming public spaces for citizens, and reconsidering the location of essential urban services and amenities to ensure easier access while securing the safety and health of residents. COVID-19 has pushed urban planners and governments to reimagine the quality and sustainability of life in cities by ensuring access to essential functions.