Mantua is on the main rail line between Verona and Modena, with direct trains from Verona (about 40 minutes) and connections from Milan (about 1.5 hours via Verona). The train station is a 10-minute walk from the historic centre.
The nearest airport is Verona Villafranca (VRN), about 40 km west. From there, trains to Mantua run via Verona Porta Nuova station, with the full journey taking about an hour and a half. Bergamo Orio al Serio and Milan airports are both possible with a little more time.
Mantua makes a good day trip from Verona or an overnight stop on a circuit of northern Italian cities — Bologna, Ferrara, and Cremona are all within easy range. Parking is available on the lakefront on the eastern edge of the city; driving into the historic centre is restricted.