Haapsalu boasts a quaint and compact layout, making it very walker-friendly. The cozy seaside towns' old streets, featuring cafes, shops, and restaurants, are conveniently situated within a few minutes' stroll from each other. Landmarks like the Haapsalu Castle and promenade add to the pedestrian appeal, enabling travelers to enjoy the town's attractions without needing a vehicle.

While Haapsalu's public transportation comprises reliable bus services connecting to larger Estonian cities such as Tallinn and Pärnu, it is not a necessity for getting around the town itself. The buses are adequate for those looking to explore beyond Haapsalu or for day trips to other regions. However, given the town's small size and walkable nature, travelers may find public transit more useful for regional travel than for local commuting.

Biking in Haapsalu is enjoyable and practical, thanks to numerous cycling routes in and around the town. The flat terrain and picturesque seaside paths make it ideal for casual or long-distance cyclists, offering an easy way to explore beyond the town limits to surrounding areas like Hanila and Rapla. Renting a bike is a popular choice for travelers, providing both scenic and practical means of transport.