Haapsalu is small enough that walking is the obvious way to get around the town centre. The castle, railway station, promenade, Kuursaal, and old town are all within fifteen minutes on foot of each other. The beach at Paralepa is a twenty-minute walk from the centre along the waterfront path, or a short taxi ride.
There is no train. There is no internal bus network worth mentioning. A bicycle is useful for reaching Paralepa and the surrounding coastline, and rentals are available from some guesthouses in summer. For the ferry connections to Hiiumaa and Vormsi, you will need a car or to take a bus to the ferry terminal.