The urbanization process leads to the enhancement of the urban heat island (UHI) effect, and the high temperature brought by it exacerbates the risk of heat exposure and seriously endangers human health. Analyzing the spatiotemporal characteristics and levels of heat exposure risk is important for formulating heat risk prevention and control measures. Therefore, this study analyzes the spatiotemporal characteristics of heat exposure risk based on the UHI footprint (FP) and explores the relationship between it and urbanization factors in the Beijing-Tianjin-Hebei (BTH) region from 2000 to 2020, and obtains the following conclusions: (1) The BTH region suffers from severe UHI problems, with FP ranging from 6.05 km (Chengde) to 32.51 km (Beijing), and the majority of cities show significant trends of FP increase. (2) With the increase in FP, massive populations are exposed within the heat risk areas, with the average annual population at risk across cities ranging from 269,826 (Chengde) to 166,020,390 (Beijing), with a predominance of people exposed to high risk (more than 65% of the total) and generally showing increasing trends. (3) The population at risk of heat exposure is significantly correlated with urbanization factors, indicating that urbanization is an important reason for the increase in the risk population and the enhancement of the risk level. These results suggest that with the continuous urbanization process, the heat exposure risk problem faced by cities in the BTH region will persist and gradually worsen, which must be paid attention to and effective mitigation measures must be taken.