The price is 8 per cent above URS's closing stock price Friday.
The California-based companies said today the combination was necessary to building an integrated infrastructure services company that can operate globally and provide services including design, financing, construction and operation of buildings.
The companies had worked together on projects such as the Barclays Center in Brooklyn and the World Trade Center in New York.
The offer includes USD 33 per share in cash and 0.734 Aecom shares for every URS share.