Guimarães boasts a highly walkable environment, particularly within its historic center, a UNESCO World Heritage site. The area is mostly traffic-free, featuring charming, narrow cobblestone streets filled with shops, cafes, and local attractions. Key points of interest are easily accessible by foot, making it convenient for travelers to explore the town at a leisurely pace. While the cobblestone can be challenging for some, the overall infrastructure supports a delightful walking experience.

The public transportation in Guimarães is serviceable, primarily through its bus network (TUG), which connects various city points including the bus and train stations, as well as extensions to surrounding areas and key cities like Porto and Braga. The bus service includes modern amenities and offers direct airport connections. However, the absence of a metro and the limited frequency on some routes might pose challenges for travelers relying heavily on transit, although the main bus station’s proximity to the historic center mitigates this to some extent.

Guimarães is making strides in promoting cycling through dedicated bike lanes that link residential, commercial, and educational areas, as well as natural surroundings. The city's compact size and ongoing infrastructure improvements support biking as a practical option for travelers. However, the hilly terrain can present obstacles, but the city’s commitment to enhancing bike-friendly routes shows promise for greener travel solutions in the future.