Denpasar has no public transport worth recommending to visitors — the city is built for motorcycles, and most Balinese get around by motorbike or car. For visitors, the main options are:
Ride-hailing apps: Gojek and Grab both operate in Denpasar and are the easiest way to get around. Fares are metered and much cheaper than tourist taxi rates. Set your pickup point carefully as apps sometimes struggle with the city's confusing street layout.
Metered taxis: Bluebird is the most reliable metered taxi company in Bali. Avoid unlicensed taxis whose drivers approach you in tourist areas — they operate on negotiated rates that are invariably several times what you should pay.
Renting a motorbike or scooter: Practical for exploring, but Denpasar's traffic is genuinely chaotic and accidents involving tourists are common. If you are not an experienced motorbike rider in Asian traffic conditions, the ride-hailing apps are a better choice.
Walking: The city centre around the Bali Museum and Pasar Badung is walkable, but the heat and traffic make long walks tiring. The distance between sights in Denpasar is greater than it appears on a map.