  We present an analytic derivation of the full four-loop cusp anomalous
dimension of $\mathcal{N}=4$ supersymmetric Yang-Mills theory from the Sudakov
form factor. To extract the cusp anomalous dimension, we calculate the
$\epsilon^{-2}$ pole of the form factor using parametric integrations of finite
integrals. We provide uniformly transcendental results for the master integrals
through to weight six and confirm a very recent independent analytic result for
the full four-loop cusp anomalous dimension of the $\mathcal{N}=4$ model.
