Road pricing is an urban traffic management mechanism to reduce traffic congestion. Currently, most of the road pricing systems based on predefined charging tolls fail to consider the dynamics of urban traffic flows and travelers’ demands on the arrival time. In this paper, we propose a method to dynamically adjust online road toll based on traffic conditions and travelers’ demands to resolve the above-mentioned problems. The method, based on deep reinforcement learning, automatically allocates the optimal toll for each road during peak hours and guides vehicles to roads with lower toll charges. Moreover, it further considers travelers’ demands to ensure that more vehicles arrive at their destinations before their estimated arrival time. Our method can increase the traffic volume effectively, as compared to the existing static mechanisms.