The temple-area neighbourhoods — the four Masi streets, the four Avani Moola streets, and the long shopping spines along North and South Veli Streets — are easily walked in a day. Hired auto-rickshaws charge 100-150 rupees for trips within the centre; insist on the meter or agree on a price before getting in. Ola and Uber both work in Madurai and are usually cheaper for longer trips.
City buses run frequently but are confusing without Tamil. For Tiruparankundram, Alagar Kovil and the outer temples, a half-day taxi (around 1,500-2,000 rupees) is the easy way; ask at any hotel.