The old city of Nuremberg is compact and best explored on foot. The circuit of the medieval walls takes about an hour at a slow walk, and most of the main sights are within this perimeter.
The city has an integrated public transport network (VAG) of U-Bahn (metro), trams, and buses. Single tickets cost around €3; day passes are good value if you plan to visit the Nazi Rally Grounds or the Memorium, which require a tram ride from the centre. The main U-Bahn station for the old city is Hauptmarkt.
Taxis are available outside the Hauptbahnhof. Cycling is possible but the old city's cobblestones and pedestrian zones make it impractical for sightseeing within the walls.