Traditional distribution network planning usually first plans and then checks reliability. It is difficult to feed back the reliability check results to effectively correct the grid planning scheme. Therefore, it is necessary to establish a planning method considering the reliability of the distribution network. As the distribution network develops, mobile and fixed energy storage are widely used. Through the optimal configuration of multiple types of energy storage, the power supply of key loads can be maintained when faults occur, and the reliability of the urban distribution network can be improved. Therefore, this paper first adopts an analytical expression method for a reliability index based on fault timing logic. It embeds the reliability index constraint into the traditional distribution network planning model. Then, an improved planning model is established by considering the fault timing logic of mobile energy storage vehicles and fixed energy storage participating in the restoration of power supply in the operational constraints. The model realizes the distribution network planning considering the influence of mobile and fixed energy storage on reliability. It can be solved by a mixed integer linear programming solver. Finally, the effectiveness of the proposed method is proved by a 24-node actual distribution network example.