Zutphen's old centre is small enough to explore entirely on foot. The main sights — Walburgiskerk, Drogenapstoren, Berkelpoort, Groenmarkt — are all within a 10-minute walk of each other. Allow two to three hours for a thorough walk through the medieval streets.
By bike This is the best way to explore beyond the old town and into the surrounding Achterhoek landscape. Bikes can be hired from the train station or from several rental shops in town. The flat terrain and well-maintained cycle paths make it easy to reach the IJssel levees, the Berkel valley, and nearby villages like Bronkhorst (the smallest city in the Netherlands, about 10km south).
By bus Local buses connect Zutphen to surrounding villages, but for day trips to Deventer, Doesburg, or Arnhem the train is faster and more reliable.