The old town is compact and best explored on foot. The main sights — the cathedral, La Almudaina, the Arab Baths, La Llotja, Es Baluard — are all within a fifteen-minute walk of each other. The Passeig des Born is the natural starting point.
For destinations beyond the old town — Bellver Castle, the Fundació Miró, the Mercat de l'Olivar — the city bus network (Empresa Municipal de Transports, EMT) covers the main routes. Single tickets cost around €1.50 and can be paid on the bus. The Palma Metro connects the city centre to the university and the stadium; it is not particularly useful for tourism but covers a gap in the bus network.
Cycling is increasingly practical: Palma has built dedicated cycle lanes along the seafront and into some of the outer neighbourhoods. Bike rental shops are easy to find near the old town. Taxis are metered and available throughout the city, with a base fare of around €3.50. Ride-hailing apps (Uber, Cabify) operate in Palma.
For the rest of Mallorca, car rental gives the most flexibility; the island is small enough to reach most points from Palma in under two hours. The train to Sóller — a vintage narrow-gauge line through the Serra de Tramuntana — is worth taking as an excursion in itself. Regular train and bus services connect Palma to Inca, Manacor, and the major coastal towns.