Central Calais is compact enough to explore on foot. The main sights — the Hôtel de Ville and Rodin sculpture, the Église Notre-Dame, the Tour du Guet, the lighthouse — are all within easy walking distance of each other. The Cité de la Dentelle is a 15-minute walk from the old town centre.
The ferry and Eurotunnel terminals are both well outside the city centre and require a taxi or local bus if you do not have a car. Bus lines operated by Calais Urban Community connect the terminals to the centre, but frequency is limited.
If you are driving through and stopping for a few hours, the large car parks near the Place d'Armes are the most convenient.