Platja d'Aro is compact enough to walk in a day. The beach strip runs about 2 km and the main commercial streets are behind it — all of it manageable on foot. Castell d'Aro, the medieval village 3 km inland, can be reached on foot (a gentle uphill walk of about 45 minutes), by bicycle, or by local bus. The SARFA bus company runs services connecting the resort to neighbouring towns including Sant Feliu de Guíxols, Calonge, and Girona.
A bicycle is a particularly pleasant option in this part of the Costa Brava — the flat promenade and the relatively quiet back roads make for easy cycling, and several bike hire shops operate along the main street. Car hire is available from local agencies. Taxis are available at the taxi rank on the main promenade or by phone.