Bagamoyo's historic core is compact enough to walk in an hour. The main sights — Old Boma, Old Fort, Old Customs House, fish market, and the German-era buildings along Ocean Road — are all within a few minutes of each other. The Catholic Mission is about 20 minutes' walk north of the Boma.
For longer distances — the Kaole ruins 5 km south, or the Nunge beach hotels north of town — bajaj (motorised three-wheeled taxis) are cheap and plentiful. Negotiate the fare before you get in; 1,000 to 2,000 shillings covers most local trips. Bicycles can be hired from some of the beach hotels. There are no metered taxis or ride-hailing apps in Bagamoyo.