Improved yield process for urea synthesis by starting from ammonia and carbon dioxide, comprising a reaction zone under high pressure and temperature conditions, a section wherein a portion of unreacted ammonia and carbon dioxide are stripped and recycled to the reactor, which section operates under substantially the same reactor pressure, and a subsequent section, operating under medium and/or low pressure conditions, for urea purification and simultaneous recovery of residual carbon dioxide and a portion of residual ammonia contained in the effluent stream from the stripping section, as an aqueous solution of ammonium carbamate, in which said aqueous ammonium carbamate solution is either totally or partially fed to said stripping section. Said process makes it possible a conversion of carbon dioxide into urea to be obtained in the reactor which is higher than 70%.