Taupo town is walkable from end to end, but you will need a car or bicycle to reach Huka Falls, the Craters of the Moon, and Wairakei. Car hire is available from the airport and in town. Bicycle hire is a good option for the lakefront and the Huka Falls track, which is flat.
Taxi and ride-share services operate in Taupo. In summer, some tour operators run shuttle services to the main geothermal and waterfall sites for those without their own transport.