Despite generally high rates of grid connectivity in African cities, electricity access among users in informal settlements remains heavily constrained. This study explores the challenges that restrict electricity access and use across 25 informal settlements in Kampala, Uganda using a mixed-methods participatory action research (PAR) approach conducted by an inter- and transdisciplinary team. We find that the high cost of electricity, a complex and expensive utility connection process, weak renter protections, an unstable power supply, the poor condition and coverage of distribution infrastructure, and a lack of trust and communication between communities and electricity service providers were substantial barriers to electricity access and use. We present solutions that were identified and evaluated during a series of collaborative workshops with community members and other stakeholders. The study documents the research process as an application of PAR to topics of energy justice and infrastructural citizenship in urban informal settlements. By focusing on the lived experiences of residents, this work demonstrates the value of integrating local knowledge and collaborative problem-solving into energy research and policy. Our results demonstrate how the insights from PAR can enrich traditional infrastructure planning and management processes to foster more equitable, just, and democratic energy transitions.