Aranjuez is quite walkable, especially in the central and historical areas. The layout of the city center is compact, allowing travelers to accomplish many daily errands on foot. Popular attractions such as the Royal Palace and its gardens create pedestrian-friendly zones. Cafes, restaurants, and shops are conveniently concentrated, making it easy to explore without a car. While some areas beyond the center may require transport, staying centrally offers a seamless walking experience.

Aranjuez has decent public transit, primarily facilitated by its strong connection to Madrid via bus and train services. The Cercanías C-3 train line efficiently connects Aranjuez to Madrid, with travel times of approximately 45-55 minutes. While the central area is compact enough that local city buses may not be necessary, the strong regional connectivity is a boon for travelers who wish to explore beyond the city. Night buses also support travel to Madrid, which is great for enjoying the capital's nightlife.

Aranjuez is reasonably bike-friendly due to its mostly flat terrain, especially along the Tagus River. This flatness, coupled with the availability of bike rentals at the train station, supports comfortable biking. However, dedicated bike lanes are not widespread. Despite this, the roads are generally safe for cycling. Also appealing are the scenic routes along the river and through the gardens, combining leisure with exploration. Royal pathways converted for bikes provide shaded, elegant rides even in the city's more protected sections.