Haarlem is incredibly walkable, particularly in its historic city center, which is compact and features pedestrian-friendly zones. The charming streets and canals offer easy access to cafes, restaurants, shops, and cultural attractions. The entire main area of Haarlem can be traversed on foot in under 30 minutes, making it pleasant and convenient for travelers to explore without needing a vehicle.

Haarlem offers good public transport options through buses and trains, albeit without a metro or tram system. The extensive bus network connects various parts of the city effectively, and frequent trains from Haarlem Centraal station facilitate easy access to major cities like Amsterdam. Although the absence of diverse transit options might be a slight drawback, the existing services, including a direct bus to Schiphol Airport, ensure decent connectivity for travelers.

Haarlem is a haven for cyclists, with extensive and dedicated bike paths spread throughout the city and beyond. The flat terrain makes cycling a safe and enjoyable mode of transport for commuters and leisure travelers alike. Modern bicycle parking facilities, particularly the large underground facility at the central station, support the biking culture. The availability of bike rentals further complements Haarlem's excellent biking infrastructure, enhancing its appeal to travelers who prefer cycling.