The development of smart mobility initiatives requires specialized and contextualized policies addressing the needs and interests of many stakeholders involved. Since the development of such policies is challenging, there is a need to learn from the experience of many cities around the world offering efficient and successfully adopted smart mobility services. However, in practice, the information provided about such initiatives is shallow and unstructured. To address this issue, we study the state of the art in mobility services, reviewing scientific publications and 42 smart mobility services delivered by nine smart cities around the world, and we propose a taxonomy for planning and designing smart mobility services. The taxonomy provides a common vocabulary to discuss and share information about such services. It comprises eight dimensions: type of services, maturity level, users, applied technologies, delivery channels, benefits, beneficiaries, and common functionality. The contribution of the proposed taxonomy is to serve as a tool for guiding policy makers by identifying a spectrum of mobility services that can be provided, to whom, what technologies can be used to deliver them, and what is the delivered public value so to justify their implementation. In addition, the taxonomy can also assist researchers in further developing the domain. By identifying common functionality, it could also help Information Technology (IT) teams in building and maintaining smart mobility services. Finally, we further discuss usage scenarios of the taxonomy by policy makers, IT staff and researchers.