In this article we present a heuristic map simplification algorithm based on a novel topology‐inferred graph model. Compared with the existing algorithms, which only focus either on geometry simplification or on topological consistency, our algorithm simplifies the map composed of series of polylines and constraint points while maintaining the topological relationships in the map, maximizing the number of removal points, and minimizing error distance efficiently. Unlike some traditional geometry simplification algorithms, such as Douglas and Peucker's, which add points incrementally, we remove points sequentially based on a priority determined by heuristic functions. In the first stage, we build a graph to model the topology of points in the map from which we determine whether a point is removable or not. As map generalization is needed in different applications with different requirements, we present two heuristic functions to determine the priority of points removal for two different purposes: to save storage space and to reduce computation time. The time complexity of our algorithm is O(nlogk) which is efficient enough to be considered for real‐time applications. Experiments on real maps were conducted and the results indicate that our algorithm produces high quality results; one heuristic function results in higher removal points saving storage space and the other improves the time performance significantly.