The Best Cities Around the World for Walking and Cycling Tours

Exploring a city on foot or by bike is one of the most immersive ways to experience its culture, history, and daily life. Some cities are simply made for slow travel — their geography, urban layout, and commitment to pedestrian and cycling infrastructure make them ideal for those who want to see more than just the usual tourist sights. Here are some of the best cities around the world for walking and cycling tours, and what makes each of them a must-visit for travelers who love to explore at their own pace.

Barcelona, Spain

Barcelona is a city where the streets themselves are a living museum. Its relatively flat layout and comprehensive network of bike lanes make it perfect for cyclists, while walkers can lose themselves in the labyrinth of the Gothic Quarter, where medieval alleys open onto hidden squares and Roman ruins.

The city’s grand boulevards, like Passeig de Gràcia, showcase Gaudí’s architectural masterpieces, including Casa Batlló and La Pedrera. Along the coast, a breezy seaside promenade lets cyclists and pedestrians take in Mediterranean views, passing from the old fisherman’s quarter of Barceloneta to the modern sculptures and beaches of the Olympic Port.

Paris, France

Paris is a city that invites you to slow down and savor every step. Its compact center and wide, tree-lined boulevards are made for walking, with every corner revealing something new — whether it’s a tucked-away café or a glimpse of the Eiffel Tower. Strolling along the Seine, visitors pass iconic landmarks like Notre-Dame, the Louvre, and Musée d’Orsay.

The city’s extensive Velib’ bike-share system makes cycling accessible, and riders can explore expansive green spaces like the Bois de Boulogne or cycle beside the river, soaking in the romantic views of bridges and historic quays.

Rome, Italy

Rome is a city where history surrounds you at every turn, making it ideal for walking tours that unfold like a journey through time. The city’s ancient streets are best discovered on foot, from the Colosseum and Roman Forum to the Pantheon and Trevi Fountain.

Though the city center’s cobblestones may challenge cyclists, Rome offers spectacular cycling opportunities along the Appian Way, one of the oldest Roman roads, where you can pedal past aqueducts and catacombs in a landscape largely unchanged for millennia. Parks like Villa Borghese also offer scenic routes for those who prefer a greener setting.

London, UK

London’s mix of grand history and modern vibrancy makes it a fantastic city for both walking and cycling. The Thames Path offers stunning riverside walks connecting landmarks such as Tower Bridge, the London Eye, and Big Ben. London’s many royal parks, including Hyde Park and Regent’s Park, are havens for cyclists, providing miles of trails surrounded by nature in the heart of the city.

Whether you want to explore the spooky side of the city with a nighttime tour of the East End, finding answers to questions like “Why was Michael Ostrog a suspect of Jack the Ripper?” or cycling through the British capital’s street art scene, there is something for everyone.

Lisbon, Portugal

Lisbon’s hills might make it seem challenging, but they also offer some of the most rewarding views for walkers willing to climb. Historic neighborhoods like Alfama and Bairro Alto are perfect for wandering, with winding streets that reveal colorful tiled facades, old tram lines, and stunning viewpoints like Miradouro da Senhora do Monte.

Down by the Tagus River, the terrain flattens, providing a beautiful cycling route along the waterfront that takes in major sights such as the Belém Tower, the Monument to the Discoveries, and the Jerónimos Monastery — all steeped in Portugal’s maritime history.

Prague, Czech Republic

Prague’s compact city center is tailor-made for walking, with its cobbled lanes leading to breathtaking squares and Gothic spires. Exploring on foot allows visitors to absorb the medieval charm of the Old Town Square, complete with its famous Astronomical Clock, and walk across the storied Charles Bridge to Prague Castle.

While the central streets may be too narrow for bikes, the city’s riverbanks offer great cycling paths, and Letná Park provides panoramic views of the Vltava River and the city’s iconic skyline.

Amsterdam, The Netherlands

Amsterdam is famously one of the world’s best biking cities, with its flat landscape and more than 500 kilometers of bike lanes. Riding along the city’s canals, cyclists pass by 17th-century merchant houses, picturesque bridges, and lively squares like Leidseplein.

Pedestrians can explore charming districts such as Jordaan and De Pijp, known for their boutiques, markets, and cafés. The city’s dedication to cycling as a primary mode of transport creates a laid-back atmosphere where bikes rule the road and even first-time visitors can navigate with ease.

New York City, USA

New York might be known for its towering skyline, but at street level, it offers some of the best urban walking and cycling experiences. Central Park is an essential stop for both walkers and cyclists, providing a sprawling green oasis amid the city buzz. The Hudson River Greenway runs for miles along Manhattan’s western edge, offering uninterrupted paths for cycling with views of the water and cityscape.

Walking tours through neighborhoods like Greenwich Village, SoHo, and the Lower East Side reveal a mix of historic architecture and vibrant street life, while elevated parks like the High Line give a unique perspective on the city.

Madrid, Spain

Madrid’s wide boulevards, grand plazas, and elegant parks make it a walker’s paradise. A walking tour through the city center covers major sights such as the Royal Palace, the Plaza Mayor, and the renowned Prado Museum. Cyclists can enjoy the Madrid Río Park, a modern urban park that runs along the Manzanares River, offering a scenic ride through the city. The Retiro Park, once a royal garden, is another favorite for both walkers and cyclists, with tree-lined avenues, ornamental lakes, and historic monuments.

Budapest, Hungary

Budapest is a city of striking contrasts and stunning riverside scenery, divided by the Danube into the historic Buda and lively Pest. Walking across the Chain Bridge gives panoramic views of both sides of the city, while tours on foot take in landmarks like Buda Castle, the Parliament Building, and St. Stephen’s Basilica. Cyclists can follow dedicated paths along the Danube or head to Margaret Island, a car-free park that feels a world away from the busy city streets. The city’s mix of thermal baths, grand boulevards, and atmospheric ruins bars makes it a unique destination for urban exploration.

Explore The World on Two Feet or Two Wheels

Each of these cities offers a chance to go beyond tourist checklists and dive into daily life — whether it’s by winding through historic quarters, pedaling along rivers, or simply wandering until you find something unexpected. Walking and cycling are not only eco-friendly ways to explore but also the best means to truly feel the rhythm of a city, connecting with its people and stories along the way.

Some images from Depositphotos. As an Amazon Associate I earn from qualifying purchases.