Using a three-dimensional computational fluid dynamics (CFD) model with the $k-{varepsilon}$ turbulence closure scheme based on the renormalization group theory, flow regimes in urban street canyons are classified according to the building and street aspect ratios. The transition between skimming flow (SF) and wake interference flow (WIF) is determined with the size of double-eddy circulation generated behind the upwind building. The transition between WIF and isolated roughness flow (IRF) is determined with the flow reattachment distance from the upwind building. The critical aspect ratios at which the flow transition occurs are found and compared with those in previous studies. The results show that the flow-regime classification method used in this study is quite reasonable and that the values of the critical aspect ratios are generally consistent with those in fluid experiments or large-eddy simulation. The regression equation describing a relation between the building and street aspect ratios at the flow-regime transition is presented.