Angra dos Reis offers a moderately walkable experience for travelers, particularly in the town center, where shops and restaurants are easily accessible on foot. However, many key points of interest such as beaches and accommodations are spread out, requiring additional transport options for full exploration. The area of Praia de Aracatiba is notably walkable due to its small size, but to visit various attractions, a car or boat may be necessary. Despite these limitations, the town's central promenade and waterfront paths provide pleasant walking experiences for leisurely strolls.

Public transportation in Angra dos Reis is primarily bus-based, offering connections to other major Brazilian cities, but within the town itself, the service is somewhat limited. The bus schedules can be infrequent, and the coverage does not extend comprehensively to all areas, which might necessitate the use of taxis or ride-sharing services for a more convenient experience. For long-distance travel, the bus terminal provides regular services, but for local exploration, public transport may not meet all needs of travelers seeking extensive movement around the region.

Biking in Angra dos Reis poses challenges due to the lack of dedicated bike lanes and the hilly terrain. While the nearby Rio-Santos highway offers scenic vistas, the absence of cycle-friendly infrastructure and potentially busy roads can deter casual cycling. The terrain can be difficult to navigate, making biking a less practical option for daily activities, though adventurous travelers might enjoy the landscape for recreational rides.