The old town and most of the main sights are compact enough to cover on foot in a day. The Krom, Mirozhsky Monastery, Pokrovskaya Tower, and the bulk of the medieval churches are all within a kilometre or two of the centre. Walking is the right way to see Pskov — the streets between the churches and fortress walls are best explored slowly.
For the Snetogorsky Monastery (4 km north) and excursions out of town, marshrutki (minibuses) and regular buses cover most routes. Taxis are inexpensive by Western standards and can be arranged through local apps. Renting a bicycle is practical in summer; the riverbank paths along the Velikaya make pleasant cycling.