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Given the surge in rural logistics services and the disparities between urban and rural delivery services, a compelling necessity emerges to explore innovative drone-based delivery solutions. The challenges inherent in truck-drone delivery due to technological and physical barriers affect service quality for some rural customers, thus magnifying concerns about delivery fairness. To investigated delivery equity, we present a truck-drone cooperative delivery model to analyze rural customers’ accessibility to such innovative delivery technology. This model accommodates rural residents’ delivery preferences while optimizing truck routes. Drones are dispatched from designated trucks to serve customers within their flight distance. Our proposed heuristic algorithm, founded on graph-based truck-drone delivery preferences, solves this intricate problem efficiently. Numerical experiments underscore the efficacy of our approach, highlighting substantial reductions in delivery costs and an impressive 20% increase in drone deliveries on a large-scale network. Through sensitivity analyses exploring drone operational costs and flight distances–affected by government policies and technological advancements–we devise an equity metric that gauges the efficiency and accessibility of rapid rural delivery services under the truck-drone delivery framework. Our research contributes to equity analysis, addressing challenges faced by logistics companies and rural residents. Moreover, it bridges the gap between urban and rural logistics, fostering an inclusive and equitable delivery ecosystem benefiting all customers, regardless of their location.