Cities are living organisms. They are out of equilibrium, open systems that never stop developing and sometimes die. The local geography can be compared to a shell constraining its development. In brief, a city's current layout is a step in a running morphogenesis process. Thus cities display a huge diversity of shapes and none of the traditional models, from random graphs, complex networks theory, or stochastic geometry, takes into account the geometrical, functional, and dynamical aspects of a city in the same framework. We present here a global mathematical model dedicated to cities that permits describing, manipulating, and explaining cities' overall shape and layout of their street systems. This street-based framework conciliates the topological and geometrical sides of the problem. From the static analysis of several French towns (topology of first and second order, anisotropy, streets scaling) we make the hypothesis that the development of a city follows a logic of division or extension of space. We propose a dynamical model that mimics this logic and that, from simple general rules and a few parameters, succeeds in generating a large diversity of cities and in reproducing the general features the static analysis has pointed out.