The Global South, encompassing more than 80% of the world population, heavily relies on informal paratransit services with ad-hoc routes. Yet, it remains unclear how efficiently such informal public transport services organize and operate. Here, we analyze and compare the structural efficiency of more than 7000 formal and informal bus service routes in 36 cities across 22 countries globally. Intriguingly, informal transport self-organizes in ways at or above efficiency levels of centralized services. They exhibit fewer detours, more uniform paths, and comparable interconnectivities, all while remaining profitable without the major subsidies common in the Global North. These insights challenge the global perception of informal transport as an inferior alternative to centrally organized services. More generally, analyzing large-scale microscopic transport data and condensing them into informative macroscopic observables may qualitatively improve system understanding and reveal specific options to create more accessible, efficient, and sustainable public transport solutions.