Sympathetic neurons
(T9 - L1) innervate (via the sympathetic chain and hypogastric plexus) the bladder neck, the vas deferens, seminal vesicles and prostate.
Parasympathetic neurons
from the sacral cord (S2-4) innervate (via the pelvic nerves and vesicle plexus) the detrusor muscle of the bladder and the vascular supply to the pelvic genital organs.
Somatic neurons
from the sacral cord (S2-4) innervate (via the pudendal nerve) the external urethral sphincter as well as the external anal sphincter.
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Bladder Innervation
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adapted from Williamson-Kirkland, Neurological Aspects of Rehabilitation, UW Orthopaedic Resident Lecture Series 1980