The historic core of Thanjavur is manageable on foot — the Brihadisvara Temple and the Royal Palace complex are less than a kilometre apart. Auto-rickshaws are the standard way to get around otherwise; agree on a fare before getting in or insist on the meter.
Cycle rickshaws are available near the temple. Renting a bicycle from a shop near the bus stand is a practical option for the flat terrain. For day trips to nearby Kumbakonam or Gangaikondacholapuram, private auto hire or a bus from the stand is most convenient.