Palm Beach is a small island — the main town area can be walked end-to-end in about 20 minutes. Worth Avenue and the streets nearby are the most walkable, though the residential neighborhoods are long, quiet, and not particularly interesting on foot. The Lake Trail runs the length of the island on the lagoon side and is well suited to cycling.
Bicycles can be rented from several shops in the town. Parking on Worth Avenue and nearby streets is limited and metered; the town enforces parking rules strictly. Many visitors park in West Palm Beach and take a Water Taxi or walk across the Royal Park Bridge (about 20 minutes on foot). Car travel within the island is straightforward — there is essentially one main road running the length of it — but parking is the perennial complaint.