Khajuraho village is small enough to walk across in 20 minutes, and the western temple group is a short stroll from most hotels. Bicycles and e-bikes can be rented from guesthouses and shops along the main road — the eastern group is about 2 km from the western group, an easy ride.
Auto-rickshaws are available for hire and useful for reaching the southern group of temples (about 4 km from the western group), which is scattered across farmland and requires some navigation. Negotiate a rate for the full circuit including waiting time.
Panna National Park is about 25 km away. Taxis can be arranged through hotels or at the taxi stand near the main road; set a price before you get in.