Maastricht's old city is best explored on foot — most of the key sights are within 20 minutes' walk of the central station, and the centre is largely pedestrianised. Cycling is the next best option: the city has good cycle infrastructure, and bikes can be rented from shops near the station. Bus service covers the wider city but is rarely needed for visitors staying in the centre.
Maastricht is small enough that taxis are rarely necessary. The Sint Servaasbrug (Saint Servaas bridge) and the Hoge Brug are the two main crossing points between the west-bank old city and the Wyck district.