Vehicle-sharing services are a well-identified category among shared mobility services. However, the services that emerged of their rapid development in European cities are sometimes very different one from another. Understanding the development and characteristics of these new services and the strategies of the actors that provide them can help urban mobility actors take these services into account when they define or implement their urban mobility policies. This article is based on a comprehensive census of the vehicle-sharing services active in Paris, Madrid and Hamburg as of May-June 2021. It analyses the service providers, the regulations that apply to the services, and the operational features of the services. Features studied includes indicators on the density of vehicles and on the prices of the services. This allows to define three broad categories of services that share similar characteristics: public bike-sharing services, micromobility vehicle-sharing services, and carsharing services. We find that each category is similarly developed in each of the three cities of the study despite differences in the regulations. The results presented provide the basis for more detailed study focused on the relations established between vehicle-sharing services and other actors of urban mobility, and on the use of the infrastructure by vehicle-sharing services.